Panda3D

pathFind.h
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1 /**
2 * PANDA 3D SOFTWARE
3 * Copyright (c) Carnegie Mellon University. All rights reserved.
4 *
5 * All use of this software is subject to the terms of the revised BSD
6 * license. You should have received a copy of this license along
7 * with this source code in a file named "LICENSE."
8 *
9 * @file pathFind.h
10 * @author Deepak, John, Navin
11 * @date 2009-10-12
12 */
13
14 #ifndef _PATHFIND_H
15 #define _PATHFIND_H
16
17 #include "aiGlobals.h"
18 #include "aiCharacter.h"
19 #include "aiPathFinder.h"
20 #include "boundingSphere.h"
21
22 class AICharacter;
23
24 /**
25 * This class contains all the members and functions that are required to form
26 * an interface between the AIBehaviors class and the PathFinder class. An
27 * object (pointer) of this class is provided in the AIBehaviors class. It is
28 * only via this object that the user can activate pathfinding.
29 */
30 class EXPCL_PANDAAI PathFind {
31 public:
32 AICharacter *_ai_char;
33 PathFinder *_path_finder_obj;
34
35 NavMesh _nav_mesh;
36 NavMesh _stage_mesh;
37
38 int _grid_size;
39 NodePath _path_find_target;
40 LVecBase3 _prev_position;
41 PT(GeomNode) _parent;
42 LineSegs *_pen;
43 std::vector<int> _previous_obstacles;
44 bool _dynamic_avoid;
45 std::vector<NodePath> _dynamic_obstacle;
46
47 PathFind(AICharacter *ai_ch);
48 ~PathFind();
49
50 void clear_path();
51 void trace_path(Node* src);
52
53 void create_nav_mesh(const char* navmesh_filename);
54 void assign_neighbor_nodes(const char* navmesh_filename);
55 void do_dynamic_avoid();
56 void clear_previous_obstacles();
57
58 void set_path_find(const char* navmesh_filename);
59 void path_find(LVecBase3 pos, std::string type = "normal");
60 void path_find(NodePath target, std::string type = "normal");
61 void add_obstacle_to_mesh(NodePath obstacle);
62 void dynamic_avoid(NodePath obstacle);
63 };
64
65 #endif
aiCharacter.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
aiGlobals.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
aiPathFinder.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
boundingSphere.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
AICharacter
Definition: aiCharacter.h:29
GeomNode
A node that holds Geom objects, renderable pieces of geometry.
Definition: geomNode.h:34
LineSegs
Encapsulates creation of a series of connected or disconnected line segments or points,...
Definition: lineSegs.h:33
NodePath
NodePath is the fundamental system for disambiguating instances, and also provides a higher-level int...
Definition: nodePath.h:159
Node
This class is used to assign the nodes on the mesh.
Definition: meshNode.h:16
PathFind
This class contains all the members and functions that are required to form an interface between the ...
Definition: pathFind.h:30
PathFinder
This class implements pathfinding using A* algorithm.
Definition: aiPathFinder.h:31