A graph made from driveline. More...

#include <drive_graph.hpp>

Inheritance diagram for DriveGraph:

Public Member Functions
	DriveGraph (const std::string &quad_file_name, const std::string &graph_file_name, const bool reverse)
	Constructor, loads the graph information for a given set of quads from a graph file.

void	getSuccessors (int node_number, std::vector< unsigned int > &succ, bool for_ai=false) const
	Returns the list of successors or a node.

void	spatialToTrack (Vec3 *dst, const Vec3 &xyz, const int sector) const
	This function takes absolute coordinates (coordinates in OpenGL space) and transforms them into coordinates based on the track.

void	setDefaultStartPositions (AlignedArray< btTransform > *start_transforms, unsigned int karts_per_row, float forwards_distance=1.5f, float sidewards_distance=1.5f, float upwards_distance=0.0f) const
	Sets all start positions depending on the drive graph.

void	updateDistancesForAllSuccessors (unsigned int indx, float delta, unsigned int count)
	Increases the distance from start for all nodes that are directly or indirectly a successor of the given node.

void	setupPaths ()
	This function defines the "path-to-nodes" for each graph node that has more than one successor.

void	computeChecklineRequirements ()
	Sets the checkline requirements for all nodes in the graph.

float	getDistanceToNext (int n, int j) const
	Return the distance to the j-th successor of node n.

float	getAngleToNext (int n, int j) const
	Returns the angle of the line between node n and its j-th.

int	getNumberOfSuccessors (int n) const
	Returns the number of successors of a node n.

DriveNode *	getNode (unsigned int j) const
	Returns the quad that belongs to a graph node.

float	getDistanceFromStart (int j) const
	Returns the distance from the start to the beginning of a quad.

float	getLapLength () const
	Returns the length of the main driveline.

bool	isReverse () const

Public Member Functions inherited from Graph
void	createDebugMesh ()
	Creates the debug mesh to display the graph on top of the track model.

RenderTarget *	makeMiniMap (const core::dimension2du &dimension, const std::string &name, const video::SColor &fill_color, bool invert_x_z)
	Takes a snapshot of the graph so they can be used as minimap.

void	mapPoint2MiniMap (const Vec3 &xyz, Vec3 *out) const
	Returns the 2d coordinates of a point when drawn on the mini map texture.

Quad *	getQuad (unsigned int i) const

unsigned int	getNumNodes () const

void	findRoadSector (const Vec3 &XYZ, int sector, std::vector< int > all_sectors=NULL, bool ignore_vertical=false) const
	findRoadSector returns in which sector on the road the position xyz is.

int	findOutOfRoadSector (const Vec3 &xyz, const int curr_sector=UNKNOWN_SECTOR, std::vector< int > *all_sectors=NULL, bool ignore_vertical=false) const
	findOutOfRoadSector finds the sector where XYZ is, but as it name implies, it is more accurate for the outside of the track than the inside, and for STK's needs the accuracy on top of the track is unacceptable; but if this was a 2D function, the accuracy for out of road sectors would be perfect.

const Vec3 &	getBBMin () const

const Vec3 &	getBBMax () const

const int *	getBBNodes () const

Static Public Member Functions
static DriveGraph *	get ()

Static Public Member Functions inherited from Graph
static Graph *	get ()
	Returns the one instance of this object.

static void	setGraph (Graph *graph)
	Set the graph (either drive or arena graph for now).

static void	destroy ()
	Cleans up the graph.

Private Member Functions
void	setDefaultSuccessors ()
	This function sets a default successor for all graph nodes that currently don't have a successor defined.

void	computeChecklineRequirements (DriveNode *node, int latest_checkline)
	Finds which checklines must be visited before driving on this quad (useful for rescue)

void	computeDirectionData ()
	Computes the direction (straight, left, right) of all graph nodes and the lastest graph node that is still turning in the given direction.

void	determineDirection (unsigned int current, unsigned int succ_index)
	Determines the direction of the drive graph when driving to the specified successor.

float	normalizeAngle (float f)
	Adjust the given angle to be in [-PI, PI].

void	addSuccessor (unsigned int from, unsigned int to)

void	load (const std::string &quad_file_name, const std::string &filename)
	Loads a drive graph from a file.

void	getPoint (const XMLNode xml, const std::string &attribute_name, Vec3 result) const
	This function interprets a point specification as an attribute in the xml quad file.

void	computeDistanceFromStart (unsigned int start_node, float distance)
	Recursively determines the distance the beginning (lower end) of the quads have from the start of the track.

unsigned int	getStartNode () const
	Returns the index of the first graph node (i.e.

virtual bool	hasLapLine () const OVERRIDE

virtual void	differentNodeColor (int n, video::SColor *c) const OVERRIDE

Private Attributes
float	m_lap_length
	The length of the first loop.

std::string	m_quad_filename
	Stores the filename - just used for error messages.

bool	m_reverse
	Wether the graph should be reverted or not.

Additional Inherited Members
Static Public Attributes inherited from Graph
static const int	UNKNOWN_SECTOR = -1

static const float	MIN_HEIGHT_TESTING = -1.0f

static const float	MAX_HEIGHT_TESTING = 5.0f

Protected Member Functions inherited from Graph
void	createQuad (const Vec3 &p0, const Vec3 &p1, const Vec3 &p2, const Vec3 &p3, unsigned int node_index, bool invisible, bool ai_ignore, bool is_arena, bool ignore)
	Factory method to dynamic create 2d / 3d quad for drive and arena graph.

void	loadBoundingBoxNodes ()
	Map 4 bounding box points to 4 closest graph nodes.

Protected Attributes inherited from Graph
std::vector< Quad * >	m_all_nodes

Static Protected Attributes inherited from Graph
static Graph *	m_graph = NULL

Detailed Description

A graph made from driveline.

Constructor & Destructor Documentation

◆ DriveGraph()

DriveGraph::DriveGraph	(	const std::string &	quad_file_name,
		const std::string &	graph_file_name,
		const bool	reverse
	)

Constructor, loads the graph information for a given set of quads from a graph file.

Parameters

quad_file_name	Name of the file of all quads
graph_file_name	Name of the file describing the actual graph

Member Function Documentation

◆ computeDirectionData()

void DriveGraph::computeDirectionData ( )

private

Computes the direction (straight, left, right) of all graph nodes and the lastest graph node that is still turning in the given direction.

For example, if a successor to this graph node is turning left, it will compute the last graph node that is still turning left. This data is used by the AI to estimate the turn radius. At this stage there is one restriction: if a node with more than one successor is ahead, only successor 0 is used. That might lead to somewhat incorrect results (i.e. the last successor is determined assuming that the kart is always using successor 0, while in reality it might follow a different successor, resulting in a different turn radius. It is not expected that this makes much difference for the AI (since it will update its data constantly, i.e. if it takes a different turn, it will be using the new data).

◆ computeDistanceFromStart()

void DriveGraph::computeDistanceFromStart	(	unsigned int	node,
		float	new_distance
	)

private

Recursively determines the distance the beginning (lower end) of the quads have from the start of the track.

Parameters

node	The node index for which to set the distance from start.
new_distance	The new distance for the specified graph node.

◆ determineDirection()

void DriveGraph::determineDirection	(	unsigned int	current,
		unsigned int	succ_index
	)

private

Determines the direction of the drive graph when driving to the specified successor.

It also determines the last graph node that is still following the given direction. The computed data is saved in the corresponding graph node. It compares the lines connecting the center point of node n with n+1 and the lines connecting n+1 and n+2 (where n is the current node, and +1 etc. specifying the successor). Then it keeps on testing the line from n+2 to n+3, n+3 to n+4, ... as long as the turn direction is the same. The last value that still has the same direction is then set as the last node with the same direction in the specified graph node.

Parameters

current	Index of the graph node with which to start ('n' in the description above).
succ_index	The successor to be followed from the current node. If there should be any other branches later, successor 0 will always be tetsed.

◆ differentNodeColor()

void DriveGraph::differentNodeColor	(	int	n,
		video::SColor *	c
	)		const

privatevirtual

Implements Graph.

◆ getAngleToNext()

float DriveGraph::getAngleToNext	(	int	n,
		int	j
	)		const

Returns the angle of the line between node n and its j-th.

successor.

◆ getPoint()

void DriveGraph::getPoint	(	const XMLNode *	xml,
		const std::string &	attribute_name,
		Vec3 *	result
	)		const

private

This function interprets a point specification as an attribute in the xml quad file.

It understands two different specifications: p1="n:p" : get point p from square n (n, p integers) p1="p1,p2,p3" : make a 3d point out of these 3 floating point values

◆ getStartNode()

unsigned int DriveGraph::getStartNode ( ) const

private

Returns the index of the first graph node (i.e.

the graph node which will trigger a new lap when a kart first enters it). This is always 0 for normal direction (this is guaranteed by the track exporter), but in reverse mode (where node 0 is actually the end of the track) this is 0's successor.

◆ getSuccessors()

void DriveGraph::getSuccessors	(	int	node_number,
		std::vector< unsigned int > &	succ,
		bool	for_ai = `false`
	)		const

Returns the list of successors or a node.

Parameters

node_number	The number of the node.
succ	A vector of ints to which the successors are added.
for_ai	true if only quads accessible by the AI should be returned.

◆ hasLapLine()

bool DriveGraph::hasLapLine ( ) const

privatevirtual

Implements Graph.

◆ load()

void DriveGraph::load	(	const std::string &	quad_file_name,
		const std::string &	filename
	)

private

Loads a drive graph from a file.

Parameters

filename	Name of the quad file to load.
filename	Name of the graph file to load.

◆ setDefaultStartPositions()

void DriveGraph::setDefaultStartPositions	(	AlignedArray< btTransform > *	start_transforms,
		unsigned int	karts_per_row,
		float	forwards_distance = `1.5f`,
		float	sidewards_distance = `1.5f`,
		float	upwards_distance = `0.0f`
	)		const

Sets all start positions depending on the drive graph.

The number of entries needed is defined by the size of the start_transform (though all entries will be overwritten). E.g. the karts will be placed as: 1 \ 2 +– row with three karts, each kart is 'sidewards_distance' 3 / to the right of the previous kart, and 4 'forwards_distance' behind the previous kart. 5 The next row starts again with the kart being 6 'forwards_distance' behind the end of the previous row. etc.

Parameters

start_transforms	A vector sized to the needed number of start positions. The values will all be overwritten with the default start positions.
karts_per_row	How many karts to place in each row.
forwards_distance	Distance in forward (Z) direction between each kart.
sidewards_distance	Distance in sidewards (X) direction between karts.

◆ setDefaultSuccessors()

void DriveGraph::setDefaultSuccessors ( )

private

This function sets a default successor for all graph nodes that currently don't have a successor defined.

The default successor of node X is X+1.

◆ setupPaths()

void DriveGraph::setupPaths ( )

This function defines the "path-to-nodes" for each graph node that has more than one successor.

The path-to-nodes indicates which successor to use to reach a certain node. This is e.g. used for the rubber ball to determine which path it is going to use to reach its target (this allows the ball to hit a target that is on a shortcut). The algorithm for the path computation favours the use of successor 0, i.e. it will if possible only use main driveline paths, not a shortcut (even though a shortcut could result in a faster way to the target) - but since shotcuts can potentially be hidden they should not be used (unless necessary). Only graph nodes with more than one successor have this data structure (since on other graph nodes only one path can be used anyway, this saves some memory).

◆ spatialToTrack()

void DriveGraph::spatialToTrack	(	Vec3 *	dst,
		const Vec3 &	xyz,
		const int	sector
	)		const

This function takes absolute coordinates (coordinates in OpenGL space) and transforms them into coordinates based on the track.

The y-axis of the returned vector is how much of the track the point has gone through, the x-axis is on which side of the road it is (relative to a line connecting the two center points of a quad). The Y axis is not changed.

Parameters

dst	Returns the results in the X and Z coordinates.
xyz	The position of the kart.
sector	The graph node the position is on.

◆ updateDistancesForAllSuccessors()

void DriveGraph::updateDistancesForAllSuccessors	(	unsigned int	indx,
		float	delta,
		unsigned int	recursive_count
	)

Increases the distance from start for all nodes that are directly or indirectly a successor of the given node.

This code is used when two branches merge together, but since the latest 'fork' indicates a longer distance from start.

Parameters

indx	Index of the node for which to increase the distance.
delta	Amount by which to increase the distance.
recursive_count	Counts how often this function was called recursively in order to catch incorrect graphs that contain loops.

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

tracks/drive_graph.hpp
tracks/drive_graph.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DriveGraph()

Member Function Documentation

◆ computeDirectionData()

◆ computeDistanceFromStart()

◆ determineDirection()

◆ differentNodeColor()

◆ getAngleToNext()

◆ getPoint()

◆ getStartNode()

◆ getSuccessors()

◆ hasLapLine()

◆ load()

◆ setDefaultStartPositions()

◆ setDefaultSuccessors()

◆ setupPaths()

◆ spatialToTrack()

◆ updateDistancesForAllSuccessors()