LocalSpaceRichAI Class Reference

RichAI for local space (pathfinding on moving graphs). More...

Detailed Description

RichAI for local space (pathfinding on moving graphs).

What this script does is that it fakes graph movement. It can be seen in the example scene called 'Moving' where a character is pathfinding on top of a moving ship. The graph does not actually move in that example instead there is some 'cheating' going on.

When requesting a path, we first transform the start and end positions of the path request into local space for the object we are moving on (e.g the ship in the example scene), then when we get the path back, they will still be in these local coordinates. When following the path, we will every Update transform the coordinates of the waypoints in the path to global coordaintes so that we can follow them. This assumes that the object that we are moving on was at the origin (0,0,0) when the graph was scanned, otherwise it will not have the correct alignment.

This functionality is only implemented for the RichAI script, however it should not be hard to use the same approach for other movement scripts.

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
override void	UpdatePath ()
	Force recalculation of the current path.
Public Member Functions inherited from RichAI
void	OnDisable ()
void	OnDrawGizmos ()

Public Attributes
LocalSpaceGraph	graph
	Root of the object we are moving on.
Public Attributes inherited from RichAI
float	acceleration = 5
	Max acceleration of the agent.
Animation	anim
float	centerOffset = 1
bool	drawGizmos = true
	Draw gizmos in the scene view.
float	endReachedDistance = 0.01f
	Max distance to the endpoint to consider it reached.
RichFunnel.FunnelSimplification	funnelSimplification = RichFunnel.FunnelSimplification.None
	Mode for funnel simplification.
Vector3	gravity = new Vector3(0,-9.82f,0)
	Gravity to use in case no character controller is attached.
LayerMask	groundMask = -1
	Layer mask to use for ground placement.
float	maxSpeed = 1
	Max speed of the agent.
bool	preciseSlowdown = true
	Use a 3rd degree equation for calculating slowdown acceleration instead of a 2nd degree.
bool	raycastingForGroundPlacement = true
	Raycast for ground placement (when not having a CharacterController).
float	repathRate = 0.5f
	Delay (seconds) between path searches.
bool	repeatedlySearchPaths = false
	Search for new paths repeatedly.
float	rotationSpeed = 360
	Max rotation speed of the agent.
float	slowdownTime = 0.5f
	How much time to use for slowdown in the end of the path.
bool	slowWhenNotFacingTarget = true
	Slow down when not facing the target direction.
Transform	target
float	wallDist = 1
	Walls within this range will be used for avoidance.
float	wallForce = 3
	Force to avoid walls with.

Protected Member Functions
override Vector3	UpdateTarget (RichFunnel fn)
Protected Member Functions inherited from RichAI
virtual void	OnEnable ()
	Run at start and when reenabled.
virtual void	OnTargetReached ()
	Called when the end of the path is reached.
virtual void	Start ()
	Starts searching for paths.
virtual void	Update ()
	Update is called once per frame.

Additional Inherited Members
Static Public Attributes inherited from RichAI
static readonly Color	GizmoColorPath = new Color(8.0f/255,78.0f/255,194.0f/255)
static readonly Color	GizmoColorRaycast = new Color(118.0f/255,206.0f/255,112.0f/255)
Protected Attributes inherited from RichAI
List< Vector3 >	buffer = new List<Vector3>()
bool	canSearchPath = false
bool	delayUpdatePath = false
bool	lastCorner = false
float	lastRepath = -9999
RichPath	rp
Seeker	seeker
Transform	tr
bool	traversingSpecialPath = false
bool	waitingForPathCalc = false
List< Vector3 >	wallBuffer = new List<Vector3>()
Properties inherited from RichAI
bool	ApproachingPartEndpoint [get]
	True if approaching the last waypoint in the current path.
bool	ApproachingPathEndpoint [get]
	True if approaching the last waypoint of all parts in the current path.
float	DistanceToNextWaypoint [get]
	Distance to the next waypoint.
Vector3	TargetPoint [get]
	Current target point.
bool	TraversingSpecial [get]
Vector3	Velocity [get]
	Current velocity of the agent.

Member Function Documentation

override void UpdatePath ( )

virtual

Force recalculation of the current path.

If there is an ongoing path calculation, it will be canceled (so make sure you leave time for the paths to get calculated before calling this function again).

Reimplemented from RichAI.

override Vector3 UpdateTarget ( RichFunnel  fn )

protectedvirtual

Reimplemented from RichAI.

Member Data Documentation

LocalSpaceGraph graph

Root of the object we are moving on.

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

• /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/ExampleScenes/Example13_Moving/LocalSpaceRichAI.cs