Generates graphs based on navmeshes. More...

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

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

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

GraphUpdateThreading	CanUpdateAsync (GraphUpdateObject o)

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

override void	DeserializeExtraInfo (GraphSerializationContext ctx)
	Deserializes graph type specific node data.

void	GenerateMatrix ()

override NNInfo	GetNearest (Vector3 position, NNConstraint constraint, GraphNode 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.

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

void	GetTileCoordinates (int tileIndex, out int x, out int z)

Int3	GetVertex (int index)

int	GetVertexArrayIndex (int index)

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

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

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

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

override void	OnDestroy ()
	Function for cleaning up references.

override void	OnDrawGizmos (bool drawNodes)
	Draw gizmos for the graph.

void	PostProcess ()

override void	RelocateNodes (Matrix4x4 oldMatrix, Matrix4x4 newMatrix)
	Transforms the nodes using newMatrix from their initial positions.

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

override void	ScanInternal (OnScanStatus statusCallback)
	Scans the graph, called from AstarPath.ScanLoop.

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

void	UpdateArea (GraphUpdateObject o)

void	UpdateAreaInit (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.

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

void	Scan ()

void	ScanGraph ()

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 INavmesh
void	GetNodes (GraphNodeDelegateCancelable del)

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 IFunnelGraph
void	AddPortal (GraphNode n1, GraphNode n2, List< Vector3 > left, List< Vector3 > right)
	Add the portal between node n1 and n2 to the funnel corridor.

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

Public Member Functions inherited from INavmeshHolder
void	GetTileCoordinates (int tileIndex, out int x, out int z)

Int3	GetVertex (int i)

int	GetVertexArrayIndex (int index)

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)

Static Public Member Functions
static void	BuildFunnelCorridor (INavmesh graph, List< GraphNode > path, int startIndex, int endIndex, List< Vector3 > left, List< Vector3 > right)

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

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

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

static NNInfo	GetNearestForce (NavGraph graph, INavmeshHolder navmesh, Vector3 position, NNConstraint constraint, bool accurateNearestNode)
	This performs a linear search through all polygons returning the closest one.

static NNInfo	GetNearestForceBoth (NavGraph graph, INavmeshHolder navmesh, 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, GraphNode hint, out GraphHitInfo hit)
	Returns if there is an obstacle between origin and end on the graph.

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

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

static void	UpdateArea (GraphUpdateObject o, INavmesh graph)

Static Public Member Functions inherited from NavGraph
static bool	InSearchTree (GraphNode node, Path path)
	Returns if the node is in the search tree of the path.

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

TriangleMeshNode[]	nodes

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

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
	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.

Properties
BBTree	bbTree `[get, set]`

TriangleMeshNode[]	TriNodes `[get]`

Int3[]	vertices `[get, set]`

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

Private Member Functions
void	GenerateNodes (Vector3[] vectorVertices, int[] triangles, out Vector3[] originalVertices, out Int3[] vertices)
	Generates a navmesh.

Private Attributes
BBTree	_bbTree
	Bounding Box Tree.

Int3[]	_vertices

Vector3[]	originalVertices

Member Function Documentation

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

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

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

static

GraphUpdateThreading CanUpdateAsync ( GraphUpdateObject o )

static Vector3 ClosestPointOnNode	(	TriangleMeshNode	node,
		Int3[]	vertices,
		Vector3	pos
	)

static

Returns the closest point of the node.

bool ContainsPoint	(	TriangleMeshNode	node,
		Vector3	pos
	)

Returns if the point is inside the node in XZ space.

static bool ContainsPoint	(	TriangleMeshNode	node,
		Vector3	pos,
		Int3[]	vertices
	)

static

Returns if the point is inside the node in XZ space.

override void DeserializeExtraInfo ( GraphSerializationContext ctx )

virtual

Deserializes graph type specific node data.

See Also: SerializeExtraInfo

Reimplemented from NavGraph.

void GenerateMatrix ( )

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

private

Generates a navmesh.

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

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

static

override NNInfo GetNearest	(	Vector3	position,
		NNConstraint	constraint,
		GraphNode	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.

static NNInfo GetNearestForce	(	NavGraph	graph,
		INavmeshHolder	navmesh,
		Vector3	position,
		NNConstraint	constraint,
		bool	accurateNearestNode
	)

static

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

static NNInfo GetNearestForceBoth	(	NavGraph	graph,
		INavmeshHolder	navmesh,
		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)

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;
});

Implements NavGraph.

void GetTileCoordinates	(	int	tileIndex,
		out int	x,
		out int	z
	)

Int3 GetVertex ( int index )

int GetVertexArrayIndex ( int index )

bool Linecast	(	Vector3	origin,
		Vector3	end
	)