Grid Graph, supports layered worlds. More...

Inheritance diagram for LayerGridGraph:

Collaboration diagram for LayerGridGraph:

Public Member Functions
void	AddLayers (int count)
	Increases the capacity of the nodes array to hold more layers.

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

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

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

void	CalculateConnections (Node[] nodes, Node node, int x, int z, int layerIndex)

bool	CheckConnection (LevelGridNode 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.

new void	DeSerializeSettings (AstarSerializer serializer)

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

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

override NNInfo	GetNearestForce (Vector3 position, NNConstraint constraint)

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

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

new 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)

bool	RecalculateCell (int x, int z, bool preserveExistingNodes)
	Recalculates single cell.

new void	RemoveGridGraphFromStatic ()

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

new void	SerializeSettings (AstarSerializer serializer)

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

new void	UpdateArea (GraphUpdateObject o)

virtual void	UpdatePenalty (LevelGridNode node)
	Updates penalty for the node.

Public Member Functions inherited from GridGraph
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.

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.

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.

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.

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

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

void	RemoveGridGraphFromStatic ()

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)

Public Attributes
float	characterHeight = 0.4F
	Nodes with a short distance to the node above it will be set unwalkable.

float	mergeSpanRange = 0.5F
	If two layered nodes are too close, they will be merged.

int[]	nodeCellIndices

Public Attributes inherited from GridGraph
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.

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.

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

Properties
override bool	uniformWidhtDepthGrid `[get]`

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

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

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
Node	GetNearestNode (Vector3 position, int x, int z, NNConstraint constraint)

Private Attributes
int	layerCount = 0

Additional Inherited Members
Static Public Member Functions inherited from GridGraph
static void	CalculateConnections (GridNode node)
	Calculates the grid connections for a single node.

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

Detailed Description

Grid Graph, supports layered worlds.

The GridGraph is great in many ways, reliable, easily configured and updatable during runtime. But it lacks support for worlds which have multiple layers, such as a building with multiple floors.
That's where this graph type comes in. It supports basically the same stuff as the grid graph, but also multiple layers. It uses a more memory, and is probably a bit slower.

Note: It does not yet have support for updating the graph during runtime with GraphUpdateObjects.

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

Member Function Documentation

void AddLayers ( int count )

Increases the capacity of the nodes array to hold more layers.

After this function has been called and new nodes have been set up, the AstarPath.DataUpdate function must be called.

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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 GridGraph.

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

virtual

Erodes the walkable area.

See Also: erodeIterations

Reimplemented from GridGraph.

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

virtual

Todo:: Set clamped position for Grid Graph

Reimplemented from GridGraph.

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override NNInfo GetNearestForce	(	Vector3	position,
		NNConstraint	constraint
	)

virtual

Todo:: Set clamped position for Grid Graph

Reimplemented from GridGraph.

new 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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new 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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new 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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bool RecalculateCell	(	int	x,
		int	z,
		bool	preserveExistingNodes
	)

Recalculates single cell.

Parameters

x	X coordinate of the cell
z	Z coordinate of the cell
preserveExistingNodes	If true, nodes will be reused, this can be used to preserve e.g penalty when recalculating

Returns: If new layers or nodes were added. If so, you need to call AstarPath.active.DataUpdate() after this function to make sure pathfinding works correctly for them (when doing a scan, that function does not need to be called however).

Note: Connections are not recalculated for the nodes.

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override void Scan ( )

virtual

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

Reimplemented from GridGraph.

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new 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	(deprecated) 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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virtual void UpdatePenalty ( LevelGridNode node )

virtual

Updates penalty for the node.

This function sets penalty to zero (0) and then adjusts it if penaltyPosition is set to true.

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

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

Public Member Functions

Public Attributes

Properties

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation