64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
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#ifndef _MESHNODE_H
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#define _MESHNODE_H
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#include "aiGlobals.h"
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/**
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* This class is used to assign the nodes on the mesh. It holds all the data
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* necessary to compute A* algorithm. It also maintains a lot of vital
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* information such as the neighbor nodes of each node and also its position
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* on the mesh.
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*
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* Note: The Mesh Generator which is a stand alone tool makes use of this
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* class to generate the nodes on the mesh.
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*/
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class EXPCL_PANDAAI Node {
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public:
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// This variable specifies whether the node is an obtacle or not. Used
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// for dynamic obstacle addition to the environment. obstacle = false
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// navigational = true
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bool _type;
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// This variable specifies the node status whether open, close or neutral.
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// open = belongs to _open_list. close = belongs to _closed_list.
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// neutral = unexamined node.
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enum Status {
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open,
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close,
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neutral
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};
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Status _status;
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// The score is used to compute the traversal expense to nodes when using
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// A*. _score = _cost + heuristic
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int _score;
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int _cost;
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int _heuristic;
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// Used to trace back the path after it is generated using A*.
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Node *_prv_node;
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// Position of the node in the 2d grid.
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int _grid_x, _grid_y;
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// Position of the node in 3D space.
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LVecBase3 _position;
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// Dimensions of each face cell on the mesh. Height is given in case of
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// expansion to a 3d mesh. Currently not used.
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float _width, _length ,_height;
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Node *_neighbours[8]; // anti-clockwise from top left corner.
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// The _next pointer is used for traversal during mesh generation from the
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// model. Note: The data in this member is discarded when mesh data is
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// written into navmesh.csv file.
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Node *_next;
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Node(int grid_x, int grid_y, LVecBase3 pos, float w, float l, float h);
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~Node();
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bool contains(float x, float y);
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};
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#endif
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