Generates a grid of nodes. More...

Inheritance diagram for GridGraph:

Collaboration diagram for GridGraph:

Classes
class	TextureData
	Used for using a texture as a source for a grid graph. More...

Public Member Functions
void	AddPortal (Node n1, Node n2, List< Vector3 > left, List< Vector3 > right)

void	AddPortal (GridNode n1, GridNode n2, List< Vector3 > left, List< Vector3 > right)

void	BuildFunnelCorridor (List< Node > path, int sIndex, int eIndex, List< Vector3 > left, List< Vector3 > right)

virtual void	CalculateConnections (Node[] nodes, int x, int z, GridNode node)
	Calculates the grid connections for a single node.

bool	CheckConnection (GridNode node, int dir)
	Returns if node is connected to it's neighbour in the specified direction.

override Node[]	CreateNodes (int number)
	Creates a number of nodes with the correct type for the graph.

void	DeSerializeNodes (Node[] nodes, AstarSerializer serializer)
	Deserializes grid graph specific node stuff from the serializer.

void	DeSerializeSettings (AstarSerializer serializer)

virtual void	ErodeWalkableArea ()
	Erodes the walkable area.

virtual void	ErodeWalkableArea (int xmin, int zmin, int xmax, int zmax)
	Erodes the walkable area.

void	GenerateMatrix ()
	Generates the matrix used for translating nodes from grid coordinates to world coordintes.

void	GetBoundsMinMax (Bounds b, Matrix4x4 matrix, out Vector3 min, out Vector3 max)
	Calculates minimum and maximum points for bounds b when multiplied with the matrix.

override NNInfo	GetNearest (Vector3 position, NNConstraint constraint, Node hint)

override NNInfo	GetNearestForce (Vector3 position, NNConstraint constraint)

List< Node >	GetNodesInArea (Bounds b)
	All nodes inside the bounding box.

List< Node >	GetNodesInArea (GraphUpdateShape shape)
	All nodes inside the shape.

virtual bool	IsValidConnection (GridNode n1, GridNode n2)
	Returns true if a connection between the adjacent nodes n1 and n2 is valid.

bool	Linecast (Vector3 _a, Vector3 _b)
	Returns if _b is visible from _a on the graph.

bool	Linecast (Vector3 _a, Vector3 _b, Node hint)
	Returns if _b is visible from _a on the graph.

bool	Linecast (Vector3 _a, Vector3 _b, Node hint, out GraphHitInfo hit)
	Returns if _b is visible from _a on the graph.

override void	OnDestroy ()
	This function will be called when this graph is destroyed.

override void	OnDrawGizmos (bool drawNodes)

void	OnPostScan (AstarPath script)
	Auto links grid graphs together.

override void	PostDeserialization ()
	Called after all deserialization has been done for all graphs.

void	RemoveGridGraphFromStatic ()

override void	Scan ()
	Scans the graph, called from AstarPath.Scan Override this function to implement custom scanning logic

void	SerializeNodes (Node[] nodes, AstarSerializer serializer)
	Serializes grid graph specific node stuff to the serializer.

void	SerializeSettings (AstarSerializer serializer)
	Serialize Settings.

virtual void	SetUpOffsetsAndCosts ()
	Sets up neighbourOffsets with the current settings.

bool	SnappedLinecast (Vector3 _a, Vector3 _b, Node hint, out GraphHitInfo hit)
	Returns if _b is visible from _a on the graph.

void	UpdateArea (GraphUpdateObject o)
	Internal function to update an area of the graph.

void	UpdateNodePositionCollision (Node node, int x, int z)
	Updates position, walkability and penalty for the node.

void	UpdateSizeFromWidthDepth ()
	Updates size from width, depth and nodeSize values.

Public Member Functions inherited from NavGraph
virtual void	Awake ()
	This will be called on the same time as Awake on the gameObject which the AstarPath script is attached to.

virtual void	DeserializeExtraInfo (byte[] bytes)
	Deserializes graph type specific node data.

NNInfo	GetNearest (Vector3 position)
	Returns the nearest node to a position using the default NNConstraint.

NNInfo	GetNearest (Vector3 position, NNConstraint constraint)
	Returns the nearest node to a position using the specified NNConstraint.

bool	InSearchTree (Node node, Path path)
	Returns if the node is in the search tree of the path.

virtual Color	NodeColor (Node node, NodeRunData data)

virtual void	RelocateNodes (Matrix4x4 oldMatrix, Matrix4x4 newMatrix)
	Relocates the nodes in this graph.

void	SafeOnDestroy ()
	SafeOnDestroy should be used when there is a risk that the pathfinding is searching through this graph when called

void	ScanGraph ()
	Consider using AstarPath.Scan () instead since this function might screw things up if there is more than one graph.

virtual byte[]	SerializeExtraInfo ()
	Serializes graph type specific node data.

Public Member Functions inherited from ISerializableGraph
Node[]	CreateNodes (int num)

void	DeSerializeNodes (Node[] nodes, AstarSerializer serializer)

void	SerializeNodes (Node[] nodes, AstarSerializer serializer)

Public Member Functions inherited from ISerializableObject
void	DeSerializeSettings (AstarSerializer serializer)
	Called to deserialize the object.

void	SerializeSettings (AstarSerializer serializer)
	Called to serialize the object.

Public Member Functions inherited from IUpdatableGraph
void	UpdateArea (GraphUpdateObject o)
	Updates an area using the specified GraphUpdateObject.

Public Member Functions inherited from IFunnelGraph
void	AddPortal (Node n1, Node n2, List< Vector3 > left, List< Vector3 > right)
	Add the portal between node n1 and n2 to the funnel corridor.

void	BuildFunnelCorridor (List< Node > path, int sIndex, int eIndex, List< Vector3 > left, List< Vector3 > right)

Public Member Functions inherited from IRaycastableGraph
bool	Linecast (Vector3 start, Vector3 end)

bool	Linecast (Vector3 start, Vector3 end, Node hint)

bool	Linecast (Vector3 start, Vector3 end, Node hint, out GraphHitInfo hit)

Static Public Member Functions
static void	CalculateConnections (GridNode node)
	Calculates the grid connections for a single node.

Public Attributes
Matrix4x4	boundsMatrix

Matrix4x4	boundsMatrix2

int	getNearestForceOverlap = 2
	In GetNearestForce, determines how far to search after a valid node has been found.

int[]	neighbourCosts
	Costs to neighbour nodes.

int[]	neighbourOffsets
	Index offset to get neighbour nodes.

int[]	neighbourXOffsets
	Offsets in the X direction for neighbour nodes.

int[]	neighbourZOffsets
	Offsets in the Z direction for neighbour nodes.

int	scans = 0

Vector2	size
	Size of the grid.

Public Attributes inherited from NavGraph
byte[]	_sguid
	Used to store the guid value.

AstarPath	active
	Reference to the AstarPath object in the scene.

bool	drawGizmos = true

bool	infoScreenOpen
	Used in the editor to check if the info screen is open.

uint	initialPenalty = 0

Matrix4x4	matrix
	A matrix for translating/rotating/scaling the graph.

string	name

Node[]	nodes
	All nodes this graph contains.

bool	open
	Is the graph open in the editor

Protected Attributes
int[]	corners
	To reduce memory allocations this array is reused.

Properties
virtual bool	uniformWidhtDepthGrid `[get]`
	This is placed here so generators inheriting from this one can override it and set it to false.

Properties inherited from NavGraph
Guid	guid `[get, set]`
	Used as an ID of the graph, considered to be unique.

Matrix4x4	inverseMatrix `[get]`

Private Member Functions
List< Node >	GetNodesInArea (Bounds b, GraphUpdateShape shape)
	All nodes inside the shape or if null, the bounding box.

Inspector - Settings
bool	useRaycastNormal `[get]`
	Use heigh raycasting normal for max slope calculation.

int	width
	Width of the grid in nodes.

int	depth
	Depth (height) of the grid in nodes.

float	aspectRatio = 1F
	Scaling of the graph along the X axis.

Vector3	rotation
	Rotation of the grid in degrees.

Bounds	bounds

Vector3	center
	Center point of the grid.

Vector2	unclampedSize
	Size of the grid.

float	nodeSize = 1
	Size of one node in world units.

GraphCollision	collision
	Settings on how to check for walkability and height.

float	maxClimb = 0.4F
	The max position difference between two nodes to enable a connection.

int	maxClimbAxis = 1
	The axis to use for maxClimb.

float	maxSlope = 90
	The max slope in degrees for a node to be walkable.

int	erodeIterations = 0
	Erosion of the graph.

bool	erosionUseTags = false
	Use tags instead of walkability for erosion.

int	erosionFirstTag = 1
	Tag to start from when using tags for erosion.

bool	autoLinkGrids = false
	Auto link the graph's edge nodes together with other GridGraphs in the scene on Scan.

float	autoLinkDistLimit = 10F
	Distance limit for grid graphs to be auto linked.

NumNeighbours	neighbours = NumNeighbours.Eight
	Number of neighbours for each node.

bool	cutCorners = true
	If disabled, will not cut corners on obstacles.

float	penaltyPositionOffset = 0
	Offset for the position when calculating penalty.

bool	penaltyPosition = false
	Use position (y-coordinate) to calculate penalty.

float	penaltyPositionFactor = 1F
	Scale factor for penalty when calculating from position.

bool	penaltyAngle = false

float	penaltyAngleFactor = 100F

TextureData	textureData = new TextureData ()
	Holds settings for using a texture as source for a grid graph.

Detailed Description

Generates a grid of nodes.

The GridGraph does exactly what the name implies, generates nodes in a grid pattern.
Grid graphs suit well to when you already have a grid based world. Features:

You can update the graph during runtime (good for e.g Tower Defence or RTS games)
Throw any scene at it, with minimal configurations you can get a good graph from it.
Supports raycast and the funnel algorithm
Predictable pattern
Can apply penalty and walkability values from a supplied image
Perfect for terrain worlds since it can make areas unwalkable depending on the slope

The The Snap Size button snaps the internal size of the graph to exactly contain the current number of nodes, i.e not contain 100.3 nodes but exactly 100 nodes.
This will make the "center" coordinate more accurate.

The Graph During Runtime Any graph which implements the IUpdatableGraph interface can be updated during runtime.
For grid graphs this is a great feature since you can update only a small part of the grid without causing any lag like a complete rescan would.
If you for example just have instantiated a sphere obstacle in the scene and you want to update the grid where that sphere was instantiated, you can do this:

AstarPath.active.UpdateGraphs (ob.collider.bounds);

Where ob is the obstacle you just instantiated (a GameObject).
As you can see, the UpdateGraphs function takes a Bounds parameter and it will send an update call to all updateable graphs.
A grid graph will update that area and a small margin around it equal to collision testing diameter/2

See Also: graph-updates for more info about updating Graph Types during runtime

Member Function Documentation

static void CalculateConnections ( GridNode node )

static

Calculates the grid connections for a single node.

Convenience function, it's faster to use CalculateConnections(GridNode[],int,int,node) but that will only show when calculating for a large number of nodes

Todo:: Test this function, should work ok, but you never know

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bool CheckConnection	(	GridNode	node,
		int	dir
	)

Returns if node is connected to it's neighbour in the specified direction.

This will also return true if neighbours = NumNeighbours.Four, the direction is diagonal and one can move through one of the adjacent nodes to the targeted node.

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override Node [] CreateNodes ( int number )

virtual

Creates a number of nodes with the correct type for the graph.

This should not set the nodes array, only return the nodes. Called by graph generators and when deserializing a graph with nodes. Override this function if you do not use the default Pathfinding::Node class.

Reimplemented from NavGraph.

Reimplemented in LayerGridGraph.

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void DeSerializeNodes	(	Node[]	nodes,
		AstarSerializer	serializer
	)

Deserializes grid graph specific node stuff from the serializer.

Deprecated:: This function is obsolete. New serialization functions exist

A* Pro Feature:: This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited
The Pro version can be bought here

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virtual void ErodeWalkableArea ( )

virtual

Erodes the walkable area.

See Also: erodeIterations

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virtual void ErodeWalkableArea	(	int	xmin,
		int	zmin,
		int	xmax,
		int	zmax
	)

virtual

Erodes the walkable area.

xmin, zmin (inclusive)
xmax, zmax (exclusive)

See Also: erodeIterations

Reimplemented in LayerGridGraph.

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void GenerateMatrix ( )

Generates the matrix used for translating nodes from grid coordinates to world coordintes.

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override NNInfo GetNearest	(	Vector3	position,
		NNConstraint	constraint,
		Node	hint
	)

virtual

Todo:: Set clamped position for Grid Graph

Reimplemented from NavGraph.

Reimplemented in LayerGridGraph.

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override NNInfo GetNearestForce	(	Vector3	position,
		NNConstraint	constraint
	)

virtual

Todo:: Set clamped position for Grid Graph

Reimplemented from NavGraph.

Reimplemented in LayerGridGraph.

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List<Node> GetNodesInArea ( Bounds b )

All nodes inside the bounding box.

Note: Be nice to the garbage collector and release the list when you have used it (optional)

See Also: Pathfinding.Util.ListPool; GetNodesInArea(GraphUpdateShape)

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List<Node> GetNodesInArea ( GraphUpdateShape shape )

All nodes inside the shape.

Note: Be nice to the garbage collector and release the list when you have used it (optional)

See Also: Pathfinding.Util.ListPool; GetNodesInArea(Bounds)

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List<Node> GetNodesInArea	(	Bounds	b,
		GraphUpdateShape	shape
	)

private

All nodes inside the shape or if null, the bounding box.

If a shape is supplied, it is assumed to be contained inside the bounding box.

See Also: GraphUpdateShape.GetBounds

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virtual bool IsValidConnection	(	GridNode	n1,
		GridNode	n2
	)

virtual

Returns true if a connection between the adjacent nodes n1 and n2 is valid.

Also takes into account if the nodes are walkable

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bool Linecast	(	Vector3	_a,
		Vector3	_b
	)

Returns if _b is visible from _a on the graph.

This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions.

A* Pro Feature:: This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited
The Pro version can be bought here

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bool Linecast	(	Vector3	_a,
		Vector3	_b,
		Node	hint
	)

Returns if _b is visible from _a on the graph.

Parameters

[in]	_a	Point to linecast from
[in]	_b	Point to linecast to
[in]	hint	If you have some idea of what the start node might be (the one close to _a), pass it to hint since it can enable faster lookups This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions. *A Pro Feature:** This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited The Pro version can be bought here

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bool Linecast	(	Vector3	_a,
		Vector3	_b,
		Node	hint,
		out GraphHitInfo	hit
	)

Returns if _b is visible from _a on the graph.

Parameters

[in]	_a	Point to linecast from
[in]	_b	Point to linecast to
[out]	hit	Contains info on what was hit, see GraphHitInfo
[in]	hint	If you have some idea of what the start node might be (the one close to _a), pass it to hint since it can enable faster lookups This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions. *A Pro Feature:** This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited The Pro version can be bought here

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void OnPostScan ( AstarPath script )

Auto links grid graphs together.

Called after all graphs have been scanned.

See Also: autoLinkGrids

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override void PostDeserialization ( )

virtual

Called after all deserialization has been done for all graphs.

Can be used to set up more graph data which is not serialized

Reimplemented from NavGraph.

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override void Scan ( )

virtual

Scans the graph, called from AstarPath.Scan Override this function to implement custom scanning logic

Implements NavGraph.

Reimplemented in LayerGridGraph.

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void SerializeNodes	(	Node[]	nodes,
		AstarSerializer	serializer
	)

Serializes grid graph specific node stuff to the serializer.

Deprecated:: This function is obsolete. New serialization functions exist

A* Pro Feature:: This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited
The Pro version can be bought here

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void SerializeSettings ( AstarSerializer serializer )

Serialize Settings.

Deprecated:: This function is obsolete. New serialization functions exist

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virtual void SetUpOffsetsAndCosts ( )

virtual

Sets up neighbourOffsets with the current settings.

neighbourOffsets, neighbourCosts, neighbourXOffsets and neighbourZOffsets are set up.
The cost for a non-diagonal movement between two adjacent nodes is RoundToInt (nodeSize * Int3::Precision)
The cost for a diagonal movement between two adjacent nodes is RoundToInt (nodeSize * Sqrt (2) * Int3::Precision)

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bool SnappedLinecast	(	Vector3	_a,
		Vector3	_b,
		Node	hint,
		out GraphHitInfo	hit
	)

Returns if _b is visible from _a on the graph.

This function is different from the other Linecast functions since it 1) snaps the start and end positions directly to the graph and it uses Bresenham's line drawing algorithm as opposed to the others which use sampling at fixed intervals. If you only care about if one node can see another node, then this function is great, but if you need more precision than one node, use the normal linecast functions

Parameters

[in]	_a	Point to linecast from
[in]	_b	Point to linecast to
[out]	hit	Contains info on what was hit, see GraphHitInfo
[in]	hint	If you have some idea of what the start node might be (the one close to _a), pass it to hint since it can enable faster lookups

This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions.

A* Pro Feature:: This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited
The Pro version can be bought here

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void UpdateNodePositionCollision	(	Node	node,
		int	x,
		int	z
	)

Updates position, walkability and penalty for the node.

Assumes that collision.Initialize (...) has been called before this function

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void UpdateSizeFromWidthDepth ( )

Updates size from width, depth and nodeSize values.

Also generates a new matrix .

Note: This does not rescan the graph, that must be done with Scan

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Member Data Documentation

float aspectRatio = 1F

Scaling of the graph along the X axis.

This should be used if you want different scales on the X and Y axis of the grid

float autoLinkDistLimit = 10F

Distance limit for grid graphs to be auto linked.

See Also: autoLinkGrids

bool autoLinkGrids = false

Auto link the graph's edge nodes together with other GridGraphs in the scene on Scan.

See Also: autoLinkDistLimit

int [] corners

protected

To reduce memory allocations this array is reused.

Used in the CalculateConnections function

See Also: CalculateConnections

bool cutCorners = true

If disabled, will not cut corners on obstacles.

If connections is Eight, obstacle corners might be cut by a connection, setting this to false disables that.

int erodeIterations = 0

Erosion of the graph.

The graph can be eroded after calculation. This means a margin is put around unwalkable nodes or other unwalkable connections. It is really good if your graph contains ledges where the nodes without erosion are walkable too close to the edge.

Below is an image showing a graph with erode iterations 0, 1 and 2

Note: A high number of erode iterations can seriously slow down graph updates during runtime (GraphUpdateObject) and should be kept as low as possible.

See Also: erosionUseTags

int erosionFirstTag = 1

Tag to start from when using tags for erosion.

See Also: erosionUseTags; erodeIterations

bool erosionUseTags = false

Use tags instead of walkability for erosion.

Tags will be used for erosion instead of marking nodes as unwalkable. The nodes will be marked with tags in an increasing order starting with the tag erosionFirstTag. Debug with the Tags mode to see the effect. With this enabled you can in effect set how close different AIs are allowed to get to walls using the Valid Tags field on the Seeker component.

See Also: erosionFirstTag

float maxClimb = 0.4F

The max position difference between two nodes to enable a connection.

Set to 0 to ignore the value.

int maxClimbAxis = 1

The axis to use for maxClimb.

X = 0, Y = 1, Z = 2.

float maxSlope = 90

The max slope in degrees for a node to be walkable.

int [] neighbourOffsets

Index offset to get neighbour nodes.

Added to a node's index to get a neighbour node index

NumNeighbours neighbours = NumNeighbours.Eight

Number of neighbours for each node.

Either four directional or eight directional

int [] neighbourXOffsets

Offsets in the X direction for neighbour nodes.

Only 1, 0 or -1

int [] neighbourZOffsets

Offsets in the Z direction for neighbour nodes.

Only 1, 0 or -1

float penaltyPositionFactor = 1F

Scale factor for penalty when calculating from position.

See Also: penaltyPosition

float penaltyPositionOffset = 0

Offset for the position when calculating penalty.

See Also: penaltyPosition

Vector2 size

Size of the grid.

Will always be positive and larger than nodeSize.

See Also: GenerateMatrix

TextureData textureData = new TextureData ()

Holds settings for using a texture as source for a grid graph.

Texure data can be used for fine grained control over how the graph will look. It can be used for positioning, penalty and walkability control.
Below is a screenshot of a grid graph with a penalty map applied. It has the effect of the AI taking the longer path along the green (low penalty) areas.

Color data is got as 0...255 values.

A* Pro Feature:: This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited
The Pro version can be bought here

Warning: Can only be used with Unity 3.4 and up

Vector2 unclampedSize

Size of the grid.

Might be negative or smaller than nodeSize

Property Documentation

virtual bool uniformWidhtDepthGrid

get

This is placed here so generators inheriting from this one can override it and set it to false.

If it is true, it means that the nodes array's length will always be equal to width*depth It is used mainly in the editor to do auto-scanning calls, setting it to false for a non-uniform grid will reduce the number of scans

bool useRaycastNormal

get

Use heigh raycasting normal for max slope calculation.

True if maxSlope is less than 90 degrees.

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

/Users/aron/Unity/AstarPathfindingGIT/Assets/AstarPathfindingProject/Generators/GridGenerator.cs

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Properties

Private Member Functions

Inspector - Settings

Detailed Description

Member Function Documentation

Member Data Documentation

Property Documentation