Panda3D

meshNode.h
1
2 #ifndef _MESHNODE_H
3 #define _MESHNODE_H
4
5 #include "aiGlobals.h"
6
7 /**
8 * This class is used to assign the nodes on the mesh. It holds all the data
9 * necessary to compute A* algorithm. It also maintains a lot of vital
10 * information such as the neighbor nodes of each node and also its position
11 * on the mesh.
12 *
13 * Note: The Mesh Generator which is a stand alone tool makes use of this
14 * class to generate the nodes on the mesh.
15 */
16 class EXPCL_PANDAAI Node {
17 public:
18 // This variable specifies whether the node is an obtacle or not. Used
19 // for dynamic obstacle addition to the environment. obstacle = false
20 // navigational = true
21 bool _type;
22
23 // This variable specifies the node status whether open, close or neutral.
24 // open = belongs to _open_list. close = belongs to _closed_list.
25 // neutral = unexamined node.
26 enum Status {
27 open,
28 close,
29 neutral
30 };
31 Status _status;
32
33 // The score is used to compute the traversal expense to nodes when using
34 // A*. _score = _cost + heuristic
35 int _score;
36 int _cost;
37 int _heuristic;
38
39 // Used to trace back the path after it is generated using A*.
40 Node *_prv_node;
41
42 // Position of the node in the 2d grid.
43 int _grid_x, _grid_y;
44
45 // Position of the node in 3D space.
46 LVecBase3 _position;
47
48 // Dimensions of each face cell on the mesh. Height is given in case of
49 // expansion to a 3d mesh. Currently not used.
50 float _width, _length ,_height;
51 Node *_neighbours[8]; // anti-clockwise from top left corner.
52
53 // The _next pointer is used for traversal during mesh generation from the
54 // model. Note: The data in this member is discarded when mesh data is
55 // written into navmesh.csv file.
56 Node *_next;
57
58 Node(int grid_x, int grid_y, LVecBase3 pos, float w, float l, float h);
59 ~Node();
60
61 bool contains(float x, float y);
62 };
63
64 #endif
aiGlobals.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
Node
This class is used to assign the nodes on the mesh.
Definition: meshNode.h:16