Generates graphs based on navmeshes. More...

Inheritance diagram for NavMeshGraph:

Collaboration diagram for NavMeshGraph:

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

void	BuildFunnelCorridor (List< Node > path, int startIndex, int endIndex, List< Vector3 > left, List< Vector3 > right)

bool	ContainsPoint (MeshNode node, Vector3 pos)
	Returns if the point is inside the node in XZ space.

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

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

void	DeSerializeNodes (Node[] nodes, AstarSerializer serializer)

void	DeSerializeSettings (AstarSerializer serializer)

void	GenerateMatrix ()

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

override NNInfo	GetNearestForce (Vector3 position, NNConstraint constraint)
	This performs a linear search through all polygons returning the closest one.

bool	Linecast (Vector3 origin, Vector3 end)
	Returns if origin is visible from end on the graph.

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

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

override void	OnDrawGizmos (bool drawNodes)

void	PostProcess ()

override void	RelocateNodes (Matrix4x4 oldMatrix, Matrix4x4 newMatrix)
	Relocates the nodes to match the newMatrix.

void	Scan (string objMeshPath)
	Scans the graph using the path to an .obj mesh.

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

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

void	SerializeNodes (Node[] nodes, AstarSerializer serializer)

void	SerializeSettings (AstarSerializer serializer)

void	Sort (Vector3[] a)

void	UpdateArea (GraphUpdateObject o)

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.

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	OnDestroy ()
	Function for cleaning up references.

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

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.

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	BuildFunnelCorridor (INavmesh graph, List< Node > path, int startIndex, int endIndex, List< Vector3 > left, List< Vector3 > right)

static Vector3	ClosestPointOnNode (MeshNode node, Int3[] vertices, Vector3 pos)
	Returns the closest point of the node.

static bool	ContainsPoint (MeshNode node, Vector3 pos, Int3[] vertices)
	Returns if the point is inside the node in XZ space.

static void	DeserializeMeshNodes (INavmesh graph, Node[] nodes, byte[] bytes)

static void	DeSerializeMeshNodes (INavmesh graph, Node[] nodes, AstarSerializer serializer)

static void	GenerateNodes (NavGraph graph, Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices)
	Generates a navmesh.

static NNInfo	GetNearest (INavmesh graph, Node[] nodes, Vector3 position, NNConstraint constraint, bool accurateNearestNode)

static NNInfo	GetNearestForce (Node[] nodes, Int3[] vertices, Vector3 position, NNConstraint constraint, bool accurateNearestNode)
	This performs a linear search through all polygons returning the closest one.

static NNInfo	GetNearestForceBoth (Node[] nodes, Int3[] vertices, Vector3 position, NNConstraint constraint, bool accurateNearestNode)
	This performs a linear search through all polygons returning the closest one.

static bool	Linecast (INavmesh graph, Vector3 tmp_origin, Vector3 tmp_end, Node hint, bool thick, float thickness, out GraphHitInfo hit)
	Returns if _b is visible from _a on the graph.

static void	RebuildBBTree (NavGraph graph)
	Rebuilds the BBTree on a NavGraph.

static byte[]	SerializeMeshNodes (INavmesh graph, Node[] nodes)

static void	SerializeMeshNodes (INavmesh graph, Node[] nodes, AstarSerializer serializer)

static void	UpdateArea (GraphUpdateObject o, NavGraph graph)

Public Attributes
bool	accurateNearestNode = true
	More accurate nearest node queries.

Vector3	offset
	Offset in world space.

Vector3	rotation
	Rotation in degrees.

float	scale = 1
	Scale of the graph.

Mesh	sourceMesh
	Mesh to construct navmesh from.

int[]	triangles

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
BBTree	bbTree `[get, set]`

Int3[]	vertices `[get, set]`

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

Matrix4x4	inverseMatrix `[get]`

Properties inherited from INavmesh
BBTree	bbTree `[get, set]`
	Bounding Box Tree.

Int3[]	vertices `[get, set]`

Private Attributes
BBTree	_bbTree
	Bounding Box Tree.

Matrix4x4	_originalMatrix

Int3[]	_vertices

Vector3[]	originalVertices

Detailed Description

Generates graphs based on navmeshes.

Navmeshes are meshes where each polygon define a walkable area. These are great because the AI can get so much more information on how it can walk. Polygons instead of points mean that the funnel smoother can produce really nice looking paths and the graphs are also really fast to search and have a low memory footprint because of their smaller size to describe the same area (compared to grid graphs).

See Also: Pathfinding.RecastGraph

Member Function Documentation

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.

override void DeserializeExtraInfo ( byte[] bytes )

virtual

Deserializes graph type specific node data.

See Also: SerializeExtraInfo

Reimplemented from NavGraph.

static void GenerateNodes	(	NavGraph	graph,
		Vector3[]	vectorVertices,
		int[]	triangles,
		out Vector3[]	originalVertices,
		out Int3[]	vertices
	)

static

Generates a navmesh.

Based on the supplied vertices and triangles. Memory usage is about O(n)

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

virtual

Returns the nearest node to a position using the specified NNConstraint.

Parameters

position	The position to try to find a close node to
hint	Can be passed to enable some graph generators to find the nearest node faster.
constraint	Can for example tell the function to try to return a walkable node. If you do not get a good node back, consider calling GetNearestForce.

Reimplemented from NavGraph.

override NNInfo GetNearestForce	(	Vector3	position,
		NNConstraint	constraint
	)

virtual

This performs a linear search through all polygons returning the closest one.

This is usually only called in the Free version of the A* Pathfinding Project since the Pro one supports BBTrees and will do another query

Reimplemented from NavGraph.

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static NNInfo GetNearestForceBoth	(	Node[]	nodes,
		Int3[]	vertices,
		Vector3	position,
		NNConstraint	constraint,
		bool	accurateNearestNode
	)

static

This performs a linear search through all polygons returning the closest one.

This will fill the NNInfo with .node for the closest node not necessarily complying with the NNConstraint, and .constrainedNode with the closest node complying with the NNConstraint.

See Also: GetNearestForce(Node[],Int3[],Vector3,NNConstraint,bool)

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bool Linecast	(	Vector3	origin,
		Vector3	end
	)

Returns if origin is visible from end on the graph.

This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions instead of checking for collider intersection.

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	origin,
		Vector3	end,
		Node	hint,
		out GraphHitInfo	hit
	)

Returns if origin is visible from end on the graph.

Parameters

[in]	origin	Point to linecast from
[in]	end	Point to linecast to
[out]	hit	Contains info on what was hit, see GraphHitInfo
[in]	hint	You need to pass the node closest to the start point This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions instead of checking for collider intersection. *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	origin,
		Vector3	end,
		Node	hint
	)

Returns if end is visible from origin on the graph.

Parameters

[in]	origin	Point to linecast from
[in]	end	Point to linecast to
[in]	hint	You need to pass the node closest to the start point This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions instead of checking for collider intersection. *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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static bool Linecast	(	INavmesh	graph,
		Vector3	tmp_origin,
		Vector3	tmp_end,
		Node	hint,
		bool	thick,
		float	thickness,
		out GraphHitInfo	hit
	)

static

Returns if _b is visible from _a on the graph.

Parameters

[in]	graph	The graph to perform the search on
[in]	tmp_origin	Point to start from
[in]	tmp_end	Point to linecast to
[out]	hit	Contains info on what was hit, see GraphHitInfo
[in]	hint	You need to pass the node closest to the start point
[in]	thick	An experimental feature can be enabled to use thick linecasts, does not always work as expected
[in]	thickness	Thickness of the thick linecast This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions instead of checking for collider intersection. *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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static void RebuildBBTree ( NavGraph graph )

static

Rebuilds the BBTree on a NavGraph.

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

See Also: NavMeshGraph::bbTree

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override void RelocateNodes	(	Matrix4x4	oldMatrix,
		Matrix4x4	newMatrix
	)

virtual

Relocates the nodes to match the newMatrix.

The "oldMatrix" variable can be left out in this function call (only for this graph generator) since it is not used

Reimplemented from NavGraph.

override void Scan ( )

virtual

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

Implements NavGraph.

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override byte [] SerializeExtraInfo ( )

virtual

Serializes graph type specific node data.

This function can be overriden to serialize extra node information (or graph information for that matter) which cannot be serialized using the standard serialization. Serialize the data in any way you want and return a byte array. When loading, the exact same byte array will be passed to the DeserializeExtraInfo function.
These functions will only be called if node serialization is enabled.
If null is returned from this function, the DeserializeExtraInfo function will not be called on load.

Reimplemented from NavGraph.

Member Data Documentation

BBTree _bbTree

private

Bounding Box Tree.

Enables really fast lookups of nodes.

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

bool accurateNearestNode = true

More accurate nearest node queries.

When on, looks for the closest point on every triangle instead of if point is inside the node triangle in XZ space. This is slower, but a lot better if your mesh contains overlaps (e.g bridges over other areas of the mesh). Note that for maximum effect the Full Get Nearest Node Search setting should be toggled in A* Inspector Settings.

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

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

Public Member Functions

Static Public Member Functions

Public Attributes

Properties

Private Attributes

Detailed Description

Member Function Documentation

Member Data Documentation