kemena::kNavMesh Class Reference

A baked navigation mesh used for pathfinding and obstacle simulation. More...

#include <knavmesh.h>

Public Member Functions
	kNavMesh ()
	Constructs an empty, unbaked navigation mesh.
	~kNavMesh ()
	Destroys the navmesh and releases all baked Recast/Detour data.
bool	bake (const std::vector< float > &verts, const std::vector< int > &tris, const kNavBuildConfig &config={}, const std::vector< kNavLink > &links={})
	Builds the navigation mesh from raw triangle geometry.
void	clear ()
	Destroys the baked data and resets to an unbaked state.
bool	isBaked () const
	Returns true if the mesh has been successfully baked.
std::vector< kVec3 >	findPath (const kVec3 &start, const kVec3 &end, int maxPoints=256) const
	Finds a smoothed path along the navmesh from start to end.
kVec3	findNearestPoint (const kVec3 &pos, const kVec3 &extents=kVec3(2.f, 4.f, 2.f)) const
	Finds the nearest point on the navmesh surface to pos.
bool	isPointOnMesh (const kVec3 &pos, const kVec3 &extents=kVec3(2.f, 4.f, 2.f)) const
	Returns true if pos is on (or very near) the navmesh.
void	getDebugLines (std::vector< kVec3 > &outSegments) const
	Extracts the navmesh surface as world-space line segments for debug visualisation (wireframe).
void *	getNavMesh () const
	Returns the internal dtNavMesh pointer (opaque).
void *	getNavMeshQuery () const
	Returns the internal dtNavMeshQuery pointer (opaque).
void *	getTileCache () const
	Returns the internal dtTileCache pointer (null for non-tiled builds).

Detailed Description

A baked navigation mesh used for pathfinding and obstacle simulation.

Create one kNavMesh per scene. Call bake() with your world geometry, then pass the mesh to kNavManager::init() to drive agents and obstacles.

kNavMesh* nav = new kNavMesh();
 
// Collect world geometry
std::vector<float> verts; // x,y,z,x,y,z,...
std::vector<int>   tris;  // i0,i1,i2,...
// ... fill from your world mesh ...
 
kNavBuildConfig cfg;
cfg.agentRadius = 0.4f;
nav->bake(verts, tris, cfg);
 
auto path = nav->findPath(start, end);

Constructor & Destructor Documentation

kNavMesh()

kemena::kNavMesh::kNavMesh

(

)

Constructs an empty, unbaked navigation mesh.

~kNavMesh()

kemena::kNavMesh::~kNavMesh

(

)

Destroys the navmesh and releases all baked Recast/Detour data.

Member Function Documentation

bake()

bool kemena::kNavMesh::bake	(	const std::vector< float > &	verts,
		const std::vector< int > &	tris,
		const kNavBuildConfig &	config = {},
		const std::vector< kNavLink > &	links = {} )

Builds the navigation mesh from raw triangle geometry.

Parameters

verts	Flat vertex buffer: x0,y0,z0, x1,y1,z1, ...
tris	Flat index buffer: i0,i1,i2, i3,i4,i5, ...
config	Voxelisation and agent parameters.
links	Optional off-mesh connections (ladders, jumps, …).

Returns

true on success.

clear()

void kemena::kNavMesh::clear

(

)

Destroys the baked data and resets to an unbaked state.

findNearestPoint()

kVec3 kemena::kNavMesh::findNearestPoint	(	const kVec3 &	pos,
		const kVec3 &	extents = kVec3(2.f, 4.f, 2.f) ) const

Finds the nearest point on the navmesh surface to pos.

Parameters

extents

Half-extents of the AABB search region.

Returns

Snapped position, or pos unchanged if nothing is found.

findPath()

std::vector< kVec3 > kemena::kNavMesh::findPath	(	const kVec3 &	start,
		const kVec3 &	end,
		int	maxPoints = 256 ) const

Finds a smoothed path along the navmesh from start to end.

Parameters

maxPoints

Maximum number of waypoints in the returned path.

Returns

World-space waypoints from start to end. Empty if unreachable.

getDebugLines()

void kemena::kNavMesh::getDebugLines

(

std::vector< kVec3 > &

outSegments

)

const

Extracts the navmesh surface as world-space line segments for debug visualisation (wireframe).

Parameters

outSegments

Filled with pairs of points; each consecutive pair (0,1), (2,3), … is one line. Cleared first.

getNavMesh()

void * kemena::kNavMesh::getNavMesh

(

)

const

Returns the internal dtNavMesh pointer (opaque).

getNavMeshQuery()

void * kemena::kNavMesh::getNavMeshQuery

(

)

const

Returns the internal dtNavMeshQuery pointer (opaque).

getTileCache()

void * kemena::kNavMesh::getTileCache

(

)

const

Returns the internal dtTileCache pointer (null for non-tiled builds).

isBaked()

bool kemena::kNavMesh::isBaked

(

)

const

Returns true if the mesh has been successfully baked.

isPointOnMesh()

bool kemena::kNavMesh::isPointOnMesh	(	const kVec3 &	pos,
		const kVec3 &	extents = kVec3(2.f, 4.f, 2.f) ) const

Returns true if pos is on (or very near) the navmesh.

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

• Source/include/knavmesh.h