| PathEngine home | previous: | next: |
|
Attribute
|
Description
|
|---|---|
| "connectOverlappingShapeExpansions" |
Defaults to false. If this attribute is set to true then PathEngine will check for overlaps between burnt-in obstacle expansions and between burnt-in obstacle expansions and the mesh external edge expansion, and combine any overlapping obstacle expansions into a single connected boundary representation. Collision preprocess generation can take much longer with this option turned on (depending on the number and complexity of burn in obstacles), but can then be used effectively for reachability queries. The connected boundary representation may also have significantly different memory and query time characteristics. |
| "enableConnectedRegionQueries" |
Defaults to false. If this attribute is set to true then PathEngine will store some additional preprocess relating to obstructed space boundary connectivity, for fast reachability checking. This option should only normally be specified together with the "connectOverlappingShapeExpansions" options, otherwise the resulting reachability queries will not take any burnt-in obstacles into account. |
| "removeSmallUnobstructedRegionsWithRange" |
Defaults to -1. Must be an integer value >= -1. If this attribute is set to a value other than -1 then PathEngine will analyse obstructed space boundaries, and remove any small unobstructed regions with horizontal range in both X and Y less than or equal to the specified value. Note that this range is determined approximately where regions are formed by intersection between other geometry, with bounding coordinate values rounded outwards. This process requires the generation of connected region information, and so the "enableConnectedRegionQueries" option must also be set whenever this option is set. |
| Documentation for PathEngine release 5.24 - Copyright © 2002-2010 PathEngine | next: |