A* Pathfinding Project  3.6
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LayerGridGraph Class Reference

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)
 
override void PostDeserialization ()
 Called after all deserialization has been done for all graphs.
 
bool RecalculateCell (int x, int z, bool preserveExistingNodes)
 Recalculates single cell.
 
new void RemoveGridGraphFromStatic ()
 
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.
 
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.
 
uint GetConnectionCost (int dir)
 
GridNode GetNodeConnection (GridNode node, int dir)
 
Int3 GetNodePosition (int index, int yOffset)
 
List< GraphNodeGetNodesInArea (Bounds b)
 All nodes inside the bounding box.
 
List< GraphNodeGetNodesInArea (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 RemoveGridGraphFromStatic ()
 
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.
 
virtual void CreateNodes (int number)
 Creates a number of nodes with the correct type for 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 SafeOnDestroy ()
 SafeOnDestroy should be used when there is a risk that the pathfinding is searching through this graph when called.
 
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 ()
 
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.
 
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.
 
float isometricAngle = 0
 Angle to use for the isometric projection.
 
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
 
Matrix4x4 inverseMatrix
 Inverse of matrix.
 
Matrix4x4 matrix
 A matrix for translating/rotating/scaling the graph.
 
string name
 
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)
 

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.
 

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.

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]_aPoint to linecast from
[in]_bPoint to linecast to
[in]hintIf 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]_aPoint to linecast from
[in]_bPoint to linecast to
[out]hitContains info on what was hit, see GraphHitInfo
[in]hintIf 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

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
xX coordinate of the cell
zZ coordinate of the cell
preserveExistingNodesIf 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.
new void RemoveGridGraphFromStatic ( )
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]_aPoint to linecast from
[in]_bPoint to linecast to
[out]hitContains 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: