Kaim::World Class Reference

#include <world.h>

Class Description

This class is a runtime container for Autodesk Navigation WorldElements such as NavData, Bots, BoxObstacles, TagVolumes...

Examples:

Inherits Kaim::RefCountBaseNTS< C, Stat >.

Main API Functions
	World (KyUInt32 databaseCount=1)
virtual	~World ()
void	SetUserData (void *userData)
void *	GetUserData ()

Update
void	Update (KyFloat32 simulationTimeInSeconds=0.016f)
	Updates the World. More...
KyUInt32	GetUpdateCount () const
	Retrieves the number of times Update() has been called. More...

VisualDebug
Returns statistics on CPU consumption during Update() and its steps. With KY_CONFIG_RELEASE, it returns nullptr;
KyResult	StartVisualDebug (const VisualDebugServerConfig &visualDebugServerConfig)
	VisualDebugging is only enabled with KY_CONFIG_DEBUG and KY_CONFIG_DEV With KY_CONFIG_RELEASE, functions related to VisualDebugging are replaced by empty inlined functions for convenience, However, it can still be judicious to guard your own code that uses VisualDebugging with a check against KY_CONFIG_RELEASE. More...
void	StopVisualDebug ()
void	NewVisualDebugFrame (KyUInt32 gameFrameIndex=0xFFFFFFFF)
VisualDebugServer *	GetVisualDebugServer ()
VisualDebugRegistry *	GetElementRegistry ()
	Returns the registry in this World of instances of WorldElement that can be visually debugged in the Navigation Lab. More...
DisplayListManager *	GetDisplayListManager ()
	Get the DisplayListManager that is required when creating a DisplayList. More...
VisualDebugAttributesManager *	GetAttributesManager ()
	Get the attributesManager that is required when creating an attribute group. More...

WorldElement Getters
KyUInt32	GetDatabasesCount () const
Database *	GetDatabase (KyUInt32 index)
KyUInt32	GetPointsOfInterestCount () const
PointOfInterest *	GetPointOfInterest (KyUInt32 index)
KyUInt32	GetCylinderObstaclesCount () const
CylinderObstacle *	GetCylinderObstacle (KyUInt32 index)
KyUInt32	GetBoxObstaclesCount () const
BoxObstacle *	GetBoxObstacle (KyUInt32 index)
KyUInt32	GetTagVolumesCount () const
KyUInt32	GetTagVolumesToBeIntegratedCount () const
KyUInt32	GetTagVolumesIntegratedCount () const
KyUInt32	GetTagVolumesToBeRemovedCount () const
TagVolume *	GetTagVolumesToBeIntegrated (KyUInt32 index)
TagVolume *	GetTagVolumesIntegrated (KyUInt32 index)
TagVolume *	GetTagVolumesToBeRemoved (KyUInt32 index)
KyUInt32	GetQueryQueueArraysCount () const
QueryQueueArray *	GetQueryQueueArray (KyUInt32 index)
KyUInt32	GetQueryPendingOperationCount () const

NavigationProfile
KyUInt32	AddNavigationProfile (Ptr< BaseNavigationProfile > navigationProfile)
Ptr< BaseNavigationProfile >	GetNavigationProfile (KyUInt32 profileId)

Async Queries
void	SetAsyncQueryDispatcher (IAsyncQueryDispatcher *asyncQueryDispatcher)
	Set a new IAsyncQueryDispatcher instance to be used by this World: More...
IAsyncQueryDispatcher *	GetAsyncQueryDispatcher ()
void	PushAsyncQuery (IQuery *query, AsyncQueryDispatchId asyncQueryDispatchId=AsyncQueryDispatchId_Default, Bot *bot=nullptr)
	Pushes an IQuery in the right QueryQueue accordingly to World's IAsyncQueryDispatcher. More...
void	CancelAsyncQuery (IQuery *query)
	This function should be called only for queries currently in a query queue which can be checked by calling query->IsInAQueryQueue(). More...
void	ProcessQueuesOutsideWorldUpdate ()
void	SetWorldUpdateThreadId (ThreadId threadId)
ThreadId	GetWorldUpdateThreadId () const

RemoveAll...
void	RemoveAndCancellAll ()
	Remove all Bots, PointOfInterest, CylinderObstacles, BoxObstacles, TagVolumes, and NavData; and cancel all queries. More...
void	RemoveAllBots ()
void	RemoveAllPointsOfInterest ()
void	RemoveAllCylinderObstacles ()
void	RemoveAllBoxObstacles ()
void	RemoveAllTagVolumes ()
void	ClearDatabase (KyUInt32 databaseIndex)

Specific optimization to the ShortcutTrajectory
KyUInt32	GetNumberOfFramesForShortcutTrajectoryPeriodicUpdate () const
	Theses functions are only useful for bots with ShortcutTrajectory. More...
void	SetNumberOfFramesForShortcutTrajectoryPeriodicUpdate (KyUInt32 numberOfFrames)
	Set the number of frames between two updates of the PathFollowing for all bots with TrajectoryMode_Shortcut. More...

Specific optimization
void	ForceClearWorkingMemory ()
	Cancel all queries and only free WorkingMemory for all databases and query queues owned by this world. More...

For internal use only
void *	m_userData
KyArray< Ptr< BaseNavigationProfile > >	m_navigationProfiles
KyUInt32	m_updateCount
KyUInt32	m_nbFramesForShortcutTrajectoryPeriodicUpdate
KyUInt32	m_databaseCount
KyArray< Ptr< Database >, MemStat_WorldFwk >	m_databases
Ptr< DatabaseBinding >	m_allDatabaseBinding
Ptr< CollisionWorld >	m_collisionWorld
TrackedCollection< Ptr< PointOfInterest >, MemStat_PointOfInterest >	m_pointsOfInterests
TrackedCollection< Ptr< CylinderObstacle >, MemStat_CylinderObstacle >	m_cylinderObstacles
TrackedCollection< Ptr< BoxObstacle >, MemStat_BoxObstacle >	m_boxObstacles
TrackedCollection< Ptr< QueryQueueArray >, MemStat_QuerySystem >	m_queryQueueArrays
TrackedCollection< Ptr< TagVolume >, MemStat_TagVolume >	m_tagVolumesToBeIntegrated
TrackedCollection< Ptr< TagVolume >, MemStat_TagVolume >	m_tagVolumesIntegrated
TrackedCollection< Ptr< TagVolume >, MemStat_TagVolume >	m_tagVolumesToBeRemoved
WorldElementSpatializer *	m_worldElementSpatializer
Ptr< BaseNavigationProfile >	m_defaultNavigationProfile
Ptr< BotConfig >	m_defaultPathFollowerConfig
VisualDebugServerConfig	m_visualDebugServerConfig
VisualDebugServer *	m_visualDebugServer
bool	m_wasConnected
DisplayListManager *	m_displayListManager
VisualDebugRegistry *	m_visualDebugRegistry
VisualDebugAttributesManager *	m_visualDebugAttributesManager
WorldStatistics *	m_statistics
DatabaseUpdateManager *	m_databaseUpdateManager
AvoidanceWorkspace	m_avoidanceWorkspace
Ptr< IAsyncQueryDispatcher >	m_asyncQueryDispatcher
bool	m_isInWorldUpdate
ThreadId	m_worldUpdateThreadId

Constructor & Destructor Documentation

Kaim::World::World ( KyUInt32  databaseCount = 1 )

explicit

Parameters

databaseCount

The number of databases added to this world, must be greater than or equal to 1.

Member Function Documentation

void Kaim::World::CancelAsyncQuery

(

IQuery *

query

)

This function should be called only for queries currently in a query queue which can be checked by calling query->IsInAQueryQueue().

void Kaim::World::ForceClearWorkingMemory

(

)

Cancel all queries and only free WorkingMemory for all databases and query queues owned by this world.

Be sure that all of your object relying on command not processed yet handle cancellation properly (cf QueryProcessStatus::QueryCanceled) . Fully processed queries will get their IOnDone::OnDone called.

VisualDebugAttributesManager * Kaim::World::GetAttributesManager ( )

inline

Get the attributesManager that is required when creating an attribute group.

BoxObstacle * Kaim::World::GetBoxObstacle ( KyUInt32  index )

inline

Precondition

index must be valid, we don't check it there.

CylinderObstacle * Kaim::World::GetCylinderObstacle ( KyUInt32  index )

inline

Precondition

index must be valid, we don't check it there.

Database * Kaim::World::GetDatabase ( KyUInt32  index )

inline

Precondition

index must be valid, we don't check it there.

Examples:

DisplayListManager * Kaim::World::GetDisplayListManager ( )

inline

Get the DisplayListManager that is required when creating a DisplayList.

Examples:

VisualDebugRegistry * Kaim::World::GetElementRegistry ( )

inline

Returns the registry in this World of instances of WorldElement that can be visually debugged in the Navigation Lab.

KyUInt32 Kaim::World::GetNumberOfFramesForShortcutTrajectoryPeriodicUpdate ( ) const

inline

Theses functions are only useful for bots with ShortcutTrajectory.

It allows to skip ProgressOnPath and ShortcutTrajectory computations that are usually done each frame. Note that on some events the bot can be updated more often than the given number. For instance, if changes occur on the Path or to be sure not to miss its current target. Gives the number of frames between two updates of the PathFollowing for each bot.

PointOfInterest * Kaim::World::GetPointOfInterest ( KyUInt32  index )

inline

Precondition

index must be valid, we don't check it there.

QueryQueueArray * Kaim::World::GetQueryQueueArray ( KyUInt32  index )

inline

Precondition

index must be valid, we don't check it there.

TagVolume * Kaim::World::GetTagVolumesIntegrated ( KyUInt32  index )

inline

Precondition

index must be valid, we don't check it there.

TagVolume * Kaim::World::GetTagVolumesToBeIntegrated ( KyUInt32  index )

inline

Precondition

index must be valid, we don't check it there.

TagVolume * Kaim::World::GetTagVolumesToBeRemoved ( KyUInt32  index )

inline

Precondition

index must be valid, we don't check it there.

KyUInt32 Kaim::World::GetUpdateCount ( ) const

inline

Retrieves the number of times Update() has been called.

void Kaim::World::PushAsyncQuery	(	IQuery *	query,
		AsyncQueryDispatchId	asyncQueryDispatchId = AsyncQueryDispatchId_Default,
		Bot *	bot = nullptr
	)

Pushes an IQuery in the right QueryQueue accordingly to World's IAsyncQueryDispatcher.

void Kaim::World::RemoveAndCancellAll

(

)

Remove all Bots, PointOfInterest, CylinderObstacles, BoxObstacles, TagVolumes, and NavData; and cancel all queries.

void Kaim::World::SetAsyncQueryDispatcher

(

IAsyncQueryDispatcher *

asyncQueryDispatcher

)

Set a new IAsyncQueryDispatcher instance to be used by this World:

• first: calls IAsyncQueryDispatcher::RemoveQueryQueuesFromWorld() on the current World's IAsyncQueryDispatcher,
• then: replaces World's IAsyncQueryDispatcher,
• finally: calls IAsyncQueryDispatcher::AddQueryQueuesToWorld() on the new World's IAsyncQueryDispatcher. Passing NULL does nothing.

void Kaim::World::SetNumberOfFramesForShortcutTrajectoryPeriodicUpdate ( KyUInt32  numberOfFrames )

inline

Set the number of frames between two updates of the PathFollowing for all bots with TrajectoryMode_Shortcut.

Default value is 1 in order to get an update each frame. If 0 is passed, it is defaulted to 1. For instance, by setting a value of 5, UpdateBotPathFollowing will call the ProgressOnPathComputer and the Trajectory one frame on 5, this will make UpdateBotPathFollowing being around 3 times faster since the number of RayCanGo used to maintained the TargetOnPathStatus is exactly divided by 5, but some other components are already skipping some frames, hence their cost is not divided by 5.

KyResult Kaim::World::StartVisualDebug

(

const VisualDebugServerConfig &

visualDebugServerConfig

)

VisualDebugging is only enabled with KY_CONFIG_DEBUG and KY_CONFIG_DEV With KY_CONFIG_RELEASE, functions related to VisualDebugging are replaced by empty inlined functions for convenience, However, it can still be judicious to guard your own code that uses VisualDebugging with a check against KY_CONFIG_RELEASE.

Starts the visual debug server. You can start it at any time.

Examples:

void Kaim::World::Update

(

KyFloat32

simulationTimeInSeconds = 0.016f

)

Updates the World.

It is possible to use Autodesk Navigation as a NavMesh/NavGraph Query toolbox without calling World::Update(). But to easily support Bots, obstacles, DynamicNavMesh, etc., a World::Update() call is required every frame.

Examples:

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The documentation for this class was generated from the following files:

• gwnavruntime/world/world.h
• gwnavruntime/world/world.cpp