Grid Graph, supports layered worlds. More...

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: Does not support 8 connections per node, only 4.

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

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

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

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

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

void	CalculateConnections (GraphNode[] nodes, GraphNode 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 void	DeserializeExtraInfo (GraphSerializationContext ctx)
	Deserializes graph type specific node data.

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

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

override NNInfo	GetNearestForce (Vector3 position, NNConstraint constraint)

override void	GetNodes (GraphNodeDelegateCancelable del)
	Calls a delegate with all nodes in the graph.

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

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

new bool	Linecast (Vector3 _a, Vector3 _b, GraphNode 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)
	Draw gizmos for the graph.

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

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

override void	ScanInternal (OnScanStatus status)
	Scans the graph, called from AstarPath.ScanInternal Override this function to implement custom scanning logic The statusCallback may be optionally called to show progress info in the editor

override void	SerializeExtraInfo (GraphSerializationContext ctx)
	Serializes graph type specific node data.

new bool	SnappedLinecast (Vector3 _a, Vector3 _b, GraphNode 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
	GridGraph ()

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

GraphUpdateThreading	CanUpdateAsync (GraphUpdateObject o)

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

virtual void	ErodeWalkableArea ()
	Erodes the walkable area.

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

uint	GetConnectionCost (int dir)

GridNode	GetNodeConnection (GridNode node, int dir)

Int3	GetNodePosition (int index, int yOffset)

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

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

bool	HasNodeConnection (GridNode node, int dir)

bool	HasNodeConnection (int index, int x, int z, int dir)

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 there is an obstacle between origin and end on the graph.

bool	Linecast (Vector3 _a, Vector3 _b, GraphNode hint)
	Returns if there is an obstacle between origin and end on the graph.

bool	Linecast (Vector3 _a, Vector3 _b, GraphNode hint, out GraphHitInfo hit)
	Returns if there is an obstacle between origin and end on the graph.

bool	Linecast (Vector3 _a, Vector3 _b, GraphNode hint, out GraphHitInfo hit, List< GraphNode > trace)
	Returns if there is an obstacle between origin and end on the graph.

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

void	RelocateNodes (Vector3 center, Quaternion rotation, float nodeSize, float aspectRatio=1, float isometricAngle=0)
	Relocate the grid graph using new settings.

void	SetNodeConnection (GridNode node, int dir, bool value)

void	SetNodeConnection (int index, int x, int z, int dir, bool value)
	Set if connection in the specified direction should be enabled.

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

bool	SnappedLinecast (Vector3 _a, Vector3 _b, GraphNode 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	UpdateAreaInit (GraphUpdateObject o)

virtual void	UpdateNodePositionCollision (GridNode node, int x, int z, bool resetPenalty=true)
	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 int	CountNodes ()
	Count nodes in the graph.

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.

virtual Color	NodeColor (GraphNode node, PathHandler data)

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

void	Scan ()

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

void	ScanInternal ()
	Internal method for scanning graphs.

void	SetMatrix (Matrix4x4 m)
	Use to set both matrix and inverseMatrix at the same time.

Public Member Functions inherited from IUpdatableGraph
GraphUpdateThreading	CanUpdateAsync (GraphUpdateObject o)

void	UpdateArea (GraphUpdateObject o)
	Updates an area using the specified GraphUpdateObject.

void	UpdateAreaInit (GraphUpdateObject o)

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

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

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

bool	Linecast (Vector3 start, Vector3 end, GraphNode hint, out GraphHitInfo hit, List< GraphNode > trace)

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

int	layerCount = 0
	Number of layers.

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

int[]	nodeCellIndices

new LevelGridNode[]	nodes

Public Attributes inherited from GridGraph
Matrix4x4	boundsMatrix

Matrix4x4	boundsMatrix2

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

readonly uint[]	neighbourCosts = new uint[8]
	Costs to neighbour nodes.

readonly int[]	neighbourOffsets = new int[8]
	Index offset to get neighbour nodes.

readonly int[]	neighbourXOffsets = new int[8]
	Offsets in the X direction for neighbour nodes.

readonly int[]	neighbourZOffsets = new int[8]
	Offsets in the Z direction for neighbour nodes.

GridNode[]	nodes
	All nodes in this graph.

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.

float	isometricAngle = 0
	Angle to use for the isometric projection.

bool	uniformEdgeCosts = false
	If true, all edge costs will be set to the same value.

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
	How much penalty is applied depending on the slope of the terrain.

float	penaltyAnglePower = 1
	How much extra to penalize very steep angles.

bool	useJumpPointSearch = false

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

uint	graphIndex
	Index of the graph, used for identification purposes.

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

uint	initialPenalty = 0
	Default penalty to apply to all nodes.

Matrix4x4	inverseMatrix = Matrix4x4.identity
	Inverse of matrix.

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

string	name
	Name of the graph.

bool	open
	Is the graph open in the editor.

Package Attributes
int	lastScannedDepth = 0

int	lastScannedWidth = 0

Properties
override bool	uniformWidthDepthGrid `[get]`

Properties inherited from GridGraph
int	Depth `[get, set]`

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

int	Width `[get, set]`

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.

Private Member Functions
LevelGridNode	GetNearestNode (Vector3 position, int x, int z, NNConstraint constraint)

void	RemoveGridGraphFromStatic ()

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

Static Protected Member Functions inherited from GridGraph
static 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.

Protected Attributes inherited from GridGraph
int[]	corners
	Small buffer to reduce memory allocations.

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.

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

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

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

void CalculateConnections	(	GraphNode[]	nodes,
		GraphNode	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 void DeserializeExtraInfo ( GraphSerializationContext ctx )

virtual

Deserializes graph type specific node data.

See Also: SerializeExtraInfo

Reimplemented from GridGraph.

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,
		GraphNode	hint = `null`
	)

virtual

Todo:: Set clamped position for Grid Graph

Reimplemented from GridGraph.

override NNInfo GetNearestForce	(	Vector3	position,
		NNConstraint	constraint
	)

virtual

Todo:: Set clamped position for Grid Graph

Reimplemented from GridGraph.

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

private

override void GetNodes ( GraphNodeDelegateCancelable del )

virtual

Calls a delegate with all nodes in the graph.

This is the primary way of "looping" through all nodes in a graph.

This function should not change anything in the graph structure.

myGraph.GetNodes ((node) => {
    Debug.Log ("I found a node at position " + (Vector3)node.Position);
    return true;
});

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

new bool Linecast	(	Vector3	_a,
		Vector3	_b,
		GraphNode	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

new bool Linecast	(	Vector3	_a,
		Vector3	_b,
		GraphNode	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

override void OnDestroy ( )

virtual

This function will be called when this graph is destroyed.

Reimplemented from GridGraph.

override void OnDrawGizmos ( bool drawNodes )

virtual

Draw gizmos for the graph.

Reimplemented from GridGraph.

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 GridGraph.

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.

void RemoveGridGraphFromStatic ( )

private

override void ScanInternal ( OnScanStatus statusCallback )

virtual

Scans the graph, called from AstarPath.ScanInternal Override this function to implement custom scanning logic The statusCallback may be optionally called to show progress info in the editor

Reimplemented from GridGraph.

override void SerializeExtraInfo ( GraphSerializationContext ctx )

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.

Reimplemented from GridGraph.

new bool SnappedLinecast	(	Vector3	_a,
		Vector3	_b,
		GraphNode	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

new void UpdateArea ( GraphUpdateObject o )

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.

Member Data Documentation

float characterHeight = 0.4F

Nodes with a short distance to the node above it will be set unwalkable.

int lastScannedDepth = 0

package

int lastScannedWidth = 0

package

int layerCount = 0

Number of layers.

Warning: Do not modify this variable

float mergeSpanRange = 0.5F

If two layered nodes are too close, they will be merged.

int [] nodeCellIndices

new LevelGridNode [] nodes

Property Documentation

override bool uniformWidthDepthGrid

get

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

/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Generators/LayerGridGraphGenerator.cs

Detailed Description

Public Member Functions

Public Attributes

Package Attributes

Properties

Private Member Functions

Additional Inherited Members

Member Function Documentation

Member Data Documentation

Property Documentation