RichFunnel Class Reference

Public Types
enum	FunnelSimplification { None, Iterative, RecursiveBinary, RecursiveTrinary }
	Different algorithms for simplifying a funnel corridor using linecasting. More...

Public Member Functions
	RichFunnel ()
void	BuildFunnelCorridor (List< GraphNode > nodes, int start, int end)
	Build a funnel corridor from a node list slice.
Vector3	ClampToNavmesh (Vector3 position)
	Clamps the position to the navmesh and repairs the path if the agent has moved slightly outside it.
bool	FindNextCorners (Vector3 origin, int startIndex, List< Vector3 > funnelPath, int numCorners, out bool lastCorner)
void	FindWalls (List< Vector3 > wallBuffer, float range)
	Fill wallBuffer with all navmesh wall segments close to the current position.
RichFunnel	Initialize (RichPath path, NavGraph graph)
	Works like a constructor, but can be used even for pooled objects.
override void	OnEnterPool ()
void	SimplifyPath (IRaycastableGraph graph, List< GraphNode > nodes, int start, int end, List< GraphNode > result, Vector3 startPoint, Vector3 endPoint)
	Simplifies a funnel path using linecasting.
Vector3	Update (Vector3 position, List< Vector3 > buffer, int numCorners, out bool lastCorner, out bool requiresRepath)
	Find the next points to move towards and clamp the position to the navmesh.
void	UpdateFunnelCorridor (int splitIndex, TriangleMeshNode prefix)
	Split funnel at node index splitIndex and throw the nodes up to that point away and replace with prefix.

Static Public Member Functions
static void	SimplifyPath2 (IRaycastableGraph rcg, List< GraphNode > nodes, int start, int end, List< GraphNode > result, Vector3 startPoint, Vector3 endPoint)
static void	SimplifyPath3 (IRaycastableGraph rcg, List< GraphNode > nodes, int start, int end, List< GraphNode > result, Vector3 startPoint, Vector3 endPoint, int depth=0)

Public Attributes
Vector3	exactEnd
Vector3	exactStart
FunnelSimplification	funnelSimplificationMode = FunnelSimplification.Iterative
	How to post process the funnel corridor.

Properties
TriangleMeshNode	CurrentNode [get]

Private Member Functions
bool	CheckForDestroyedNodes ()
	True if any node in the path is destroyed.
bool	ClampToNavmeshInternal (ref Vector3 position)
	Searches for the node the agent is inside.
void	FindWalls (int nodeIndex, List< Vector3 > wallBuffer, Vector3 position, float range)

Private Attributes
int	checkForDestroyedNodesCounter
int	currentNode
Vector3	currentPosition
NavGraph	graph
readonly List< Vector3 >	left
List< TriangleMeshNode >	nodes
RichPath	path
readonly List< Vector3 >	right
int[]	triBuffer = new int[3]

Member Enumeration Documentation

enum FunnelSimplification

Different algorithms for simplifying a funnel corridor using linecasting.

This makes the most sense when using tiled navmeshes. A lot of times, the funnel corridor can be improved by using funnel simplification. You will have to experiment and see which one of these give the best result on your map. In my own tests, iterative has usually given the best results, closesly followed by RecursiveTrinary which was the fastest one, recursive binary came last with both the worst quality and slowest execution time. But on other maps, it might be totally different.

Enumerator:

None
Iterative
RecursiveBinary
RecursiveTrinary

Constructor & Destructor Documentation

RichFunnel

(

)

Member Function Documentation

void BuildFunnelCorridor	(	List< GraphNode >	nodes,
		int	start,
		int	end
	)

Build a funnel corridor from a node list slice.

The nodes are assumed to be of type TriangleMeshNode.

Parameters

nodes	Nodes to build the funnel corridor from
start	Start index in the nodes list
end	End index in the nodes list, this index is inclusive

bool CheckForDestroyedNodes ( )

private

True if any node in the path is destroyed.

Vector3 ClampToNavmesh

(

Vector3

position

)

Clamps the position to the navmesh and repairs the path if the agent has moved slightly outside it.

You should not call this method with anything other than the agent's position.

bool ClampToNavmeshInternal ( ref Vector3  position )

private

Searches for the node the agent is inside.

This will also clamp the position to the navmesh and repair the funnel cooridor if the agent moves slightly outside it.

Assumes the check for if the position is inside nodes[currentNode] has already been done.

Returns

True if nodes along the path have been destroyed so that a path recalculation is required

bool FindNextCorners	(	Vector3	origin,
		int	startIndex,
		List< Vector3 >	funnelPath,
		int	numCorners,
		out bool	lastCorner
	)

void FindWalls	(	List< Vector3 >	wallBuffer,
		float	range
	)

Fill wallBuffer with all navmesh wall segments close to the current position.

A wall segment is a node edge which is not shared by any other neighbour node, i.e an outer edge on the navmesh.

void FindWalls ( int  nodeIndex, List< Vector3 >  wallBuffer, Vector3  position, float  range  )

private

RichFunnel Initialize	(	RichPath	path,
		NavGraph	graph
	)

Works like a constructor, but can be used even for pooled objects.

Returns this for easy chaining

override void OnEnterPool ( )

virtual

Implements RichPathPart.

void SimplifyPath	(	IRaycastableGraph	graph,
		List< GraphNode >	nodes,
		int	start,
		int	end,
		List< GraphNode >	result,
		Vector3	startPoint,
		Vector3	endPoint
	)

Simplifies a funnel path using linecasting.

Running time is roughly O(n^2 log n) in the worst case (where n = end-start) Actually it depends on how the graph looks, so in theory the actual upper limit on the worst case running time is O(n*m log n) (where n = end-start and m = nodes in the graph) but O(n^2 log n) is a much more realistic worst case limit.

Requires graph to implement IRaycastableGraph

static void SimplifyPath2 ( IRaycastableGraph  rcg, List< GraphNode >  nodes, int  start, int  end, List< GraphNode >  result, Vector3  startPoint, Vector3  endPoint  )

static

static void SimplifyPath3 ( IRaycastableGraph  rcg, List< GraphNode >  nodes, int  start, int  end, List< GraphNode >  result, Vector3  startPoint, Vector3  endPoint, int  depth = 0  )

static

Vector3 Update	(	Vector3	position,
		List< Vector3 >	buffer,
		int	numCorners,
		out bool	lastCorner,
		out bool	requiresRepath
	)

Find the next points to move towards and clamp the position to the navmesh.

Parameters

position	The position of the agent.
buffer	Will be filled with up to numCorners points which are the next points in the path towards the target.
numCorners	See buffer.
lastCorner	True if the buffer contains the end point of the path.
requiresRepath	True if nodes along the path have been destroyed and a path recalculation is necessary.

Returns

The position of the agent clamped to make sure it is inside the navmesh.

void UpdateFunnelCorridor	(	int	splitIndex,
		TriangleMeshNode	prefix
	)

Split funnel at node index splitIndex and throw the nodes up to that point away and replace with prefix.

Used when the AI has happened to get sidetracked and entered a node outside the funnel.

Member Data Documentation

int checkForDestroyedNodesCounter

private

int currentNode

private

Vector3 currentPosition

private

Vector3 exactEnd

Vector3 exactStart

FunnelSimplification funnelSimplificationMode = FunnelSimplification.Iterative

How to post process the funnel corridor.

NavGraph graph

private

readonly List<Vector3> left

private

List<TriangleMeshNode> nodes

private

RichPath path

private

readonly List<Vector3> right

private

int [] triBuffer = new int[3]

private

Property Documentation

TriangleMeshNode CurrentNode

get

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

• /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Core/AI/RichPath.cs