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Add doc for Navigator

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elsid 2018-09-30 01:20:42 +03:00
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components/detournavigator/navigator.hpp
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@ -32,48 +32,159 @@ namespace DetourNavigator
{}
};
/**
* @brief Top level class of detournavigator componenet. Navigator allows to build a scene with navmesh and find
* a path for an agent there. Scene contains agents, geometry objects and water. Agent are distinguished only by
* half extents. Each object has unique identifier and could be added, updated or removed. Water could be added once
* for each world cell at given level of height. Navmesh builds asynchronously in separate threads. To start build
* navmesh call update method.
*/
class Navigator
{
public:
/**
* @brief Navigator constructor initializes all internal data. Constructed object is ready to build a scene.
* @param settings allows to customize navigator work. Constructor is only place to set navigator settings.
*/
Navigator(const Settings& settings);
/**
* @brief addAgent should be called for each agent even if all of them has same half extents.
* @param agentHalfExtents allows to setup bounding cylinder for each agent, for each different half extents
* there is different navmesh.
*/
void addAgent(const osg::Vec3f& agentHalfExtents);
/**
* @brief removeAgent should be called for each agent even if all of them has same half extents
* @param agentHalfExtents allows determine which agent to remove
*/
void removeAgent(const osg::Vec3f& agentHalfExtents);
/**
* @brief addObject is used to add object represented by single btCollisionShape and btTransform.
* @param id is used to distinguish different objects.
* @param shape must live until object is updated by another shape removed from Navigator.
* @param transform allows to setup object geometry according to its world state.
* @return true if object is added, false if there is already object with given id.
*/
bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform);
/**
* @brief addObject is used to add complex object with allowed to walk and avoided to walk shapes
* @param id is used to distinguish different objects
* @param shape members must live until object is updated by another shape removed from Navigator
* @param transform allows to setup objects geometry according to its world state
* @return true if object is added, false if there is already object with given id
*/
bool addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform);
/**
* @brief addObject is used to add doors.
* @param id is used to distinguish different objects.
* @param shape members must live until object is updated by another shape or removed from Navigator.
* @param transform allows to setup objects geometry according to its world state.
* @return true if object is added, false if there is already object with given id.
*/
bool addObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform);
/**
* @brief updateObject replace object geometry by given data.
* @param id is used to find object.
* @param shape must live until object is updated by another shape removed from Navigator.
* @param transform allows to setup objects geometry according to its world state.
* @return true if object is updated, false if there is no object with given id.
*/
bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform);
/**
* @brief updateObject replace object geometry by given data.
* @param id is used to find object.
* @param shape members must live until object is updated by another shape removed from Navigator.
* @param transform allows to setup objects geometry according to its world state.
* @return true if object is updated, false if there is no object with given id.
*/
bool updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform);
/**
* @brief updateObject replace object geometry by given data.
* @param id is used to find object.
* @param shape members must live until object is updated by another shape removed from Navigator.
* @param transform allows to setup objects geometry according to its world state.
* @return true if object is updated, false if there is no object with given id.
*/
bool updateObject(const ObjectId id, const DoorShapes& shapes, const btTransform& transform);
/**
* @brief removeObject to make it no more available at the scene.
* @param id is used to find object.
* @return true if object is removed, false if there is no object with given id.
*/
bool removeObject(const ObjectId id);
/**
* @brief addWater is used to set water level at given world cell.
* @param cellPosition allows to distinguish cells if there is many in current world.
* @param cellSize set cell borders. std::numeric_limits<int>::max() disables cell borders.
* @param level set z coordinate of water surface at the scene.
* @param transform set global shift of cell center.
* @return true if there was no water at given cell if cellSize != std::numeric_limits<int>::max() or there is
* at least single object is added to the scene, false if there is already water for given cell or there is no
* any other objects.
*/
bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
const btTransform& transform);
/**
* @brief removeWater to make it no more available at the scene.
* @param cellPosition allows to find cell.
* @return true if there was water at given cell.
*/
bool removeWater(const osg::Vec2i& cellPosition);
/**
* @brief update start background navmesh update using current scene state.
* @param playerPosition setup initial point to order build tiles of navmesh.
*/
void update(const osg::Vec3f& playerPosition);
/**
* @brief wait locks thread until all tiles are updated from last update call.
*/
void wait();
/**
* @brief findPath fills output iterator with points of scene surfaces to be used for actor to walk through.
* @param agentHalfExtents allows to find navmesh for given actor.
* @param start path from given point.
* @param end path at given point.
* @param includeFlags setup allowed surfaces for actor to walk.
* @param out the beginning of the destination range.
* @return Output iterator to the element in the destination range, one past the last element of found path.
* Equal to out if no path is found.
* @throws InvalidArgument if there is no navmesh for given agentHalfExtents.
*/
template <class OutputIterator>
OutputIterator findPath(const osg::Vec3f& agentHalfExtents, const osg::Vec3f& start,
const osg::Vec3f& end, const Flags includeFlags, OutputIterator out) const
{
static_assert(
std::is_same<
typename std::iterator_traits<OutputIterator>::iterator_category,
std::output_iterator_tag
>::value,
"out is not an OutputIterator"
);
const auto navMesh = mNavMeshManager.getNavMesh(agentHalfExtents);
return findSmoothPath(*navMesh.lock(), toNavMeshCoordinates(mSettings, agentHalfExtents),
toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), includeFlags,
mSettings, out);
}
/**
* @brief getNavMeshes returns all current navmeshes
* @return map of agent half extents to navmesh
*/
std::map<osg::Vec3f, std::shared_ptr<NavMeshCacheItem>> getNavMeshes() const;
const Settings& getSettings() const;