PolarGraphGenerator.cs

Shows a simple graph type generating a polar graph.

Version

Tested with version 3.6.7

using UnityEngine;
// Include the Pathfinding namespace to gain access to a lot of useful classes
using Pathfinding;
// Required to save the settings
using Pathfinding.Serialization;

// Inherit our new graph from a base graph type
[JsonOptIn]
public class PolarGraph : NavGraph {
    [JsonMember]
    public int circles = 10;
    [JsonMember]
    public int steps = 20;

    [JsonMember]
    public Vector3 center = Vector3.zero;

    [JsonMember]
    public float scale = 2;

    PointNode[] nodes;

    PointNode[] CreateNodes (int count) {
        var created = new PointNode[count];

        for (int i = 0; i < created.Length; i++) {
            created[i] = new PointNode(active);
        }
        return created;
    }

    static Vector3 CalculateNodePosition (int circle, float angle, Matrix4x4 matrix) {
        // Get the direction towards the node from the center
        var pos = new Vector3(Mathf.Sin(angle), 0, Mathf.Cos(angle));

        // Multiply it with the circle number to get the node position in graph space
        pos *= circle;

        // Multiply it with the matrix to get the node position in world space
        pos = matrix.MultiplyPoint(pos);
        return pos;
    }

    public override void ScanInternal (OnScanStatus statusCallback) {
        // Create an array containing all nodes
        nodes = CreateNodes(circles*steps);

        // Create a matrix which just moves the nodes to #center
        // and scales their positions by #scale
        // The SetMatrix call will save it to a variable called just "matrix"
        SetMatrix(Matrix4x4.TRS(center, Quaternion.identity, Vector3.one*scale));

        // Place the center node in the center
        nodes[0].position = (Int3)matrix.MultiplyPoint(Vector3.zero);

        // The number of angles (in radians) each step will use
        float anglesPerStep = (2*Mathf.PI)/steps;

        for (int circle = 1; circle < circles; circle++) {
            for (int step = 0; step < steps; step++) {
                // Get the angle to the node relative to the center
                float angle = step * anglesPerStep;

                Vector3 pos = CalculateNodePosition(circle, angle, matrix);

                // Get the node from an index
                // The middle node is at index 0
                // The first circle is from 1...steps-1
                // The second circle is from steps...2*steps-1
                // The third is from 2*steps...3*steps-1 and so on

                GraphNode node = nodes[(circle-1)*steps + step + 1];

                // Assign the node position
                node.position = (Int3)pos;
            }
        }

        // Now all nodes are created, let's create some connections between them!

        // Iterate through all circles
        // circle 0 is just the center node so we skip that for now
        for (int circle = 1; circle < circles; circle++) {
            for (int step = 0; step < steps; step++) {
                // Get the current node
                PointNode node = nodes[(circle-1)*steps + step + 1];

                // The nodes here will always have exactly four connections, like a grid, but polar.
                // Except for those in the last circle which will only have three connections
                int numConnections = (circle < circles-1) ? 4 : 3;
                var connections = new GraphNode[numConnections];
                var connectionCosts = new uint[numConnections];

                // Get the next clockwise node in the current circle.
                // The last node in each circle should be linked to the first node
                // in the circle. But if we just did step+1 we would link it to the
                // first node in the *next* circle, which we do not want
                int connId = (circle-1)*steps + (step < steps-1 ? step+1 : 0) + 1;
                connections[0] = nodes[connId];

                // Counter clockwise node. Here we check for underflow instead
                connId = (circle-1)*steps + (step > 0 ? step-1 : steps-1) + 1;
                connections[1] = nodes[connId];

                // The node in the previous circle (in towards the center)
                if (circle > 1) {
                    connId = (circle-2)*steps + step + 1;
                } else {
                    // Create a connection to the middle node, special case
                    connId = 0;
                }
                connections[2] = nodes[connId];

                // Are there any more circles outside this one?
                if (numConnections == 4) {
                    // The node in the next circle (out from the center)
                    connId = circle*steps + step + 1;
                    connections[3] = nodes[connId];
                }

                for (int q = 0; q < connections.Length; q++) {
                    // Node.position is an Int3, here we get the cost of moving between the two positions
                    connectionCosts[q] = (uint)(node.position-connections[q].position).costMagnitude;
                }

                node.connections = connections;
                node.connectionCosts = connectionCosts;
            }
        }

        // The center node is a special case, so we have to deal with it separately
        PointNode centerNode = nodes[0];
        centerNode.connections = new GraphNode[steps];
        centerNode.connectionCosts = new uint[steps];

        // Assign all nodes in the first circle as connections to the center node
        for (int step = 0; step < steps; step++) {
            centerNode.connections[step] = nodes[1+step];

            // centerNode.position is an Int3, here we get the cost of moving between the two positions
            centerNode.connectionCosts[step] = (uint)(centerNode.position-centerNode.connections[step].position).costMagnitude;
        }

        // Set all the nodes to be walkable
        for (int i = 0; i < nodes.Length; i++) {
            nodes[i].Walkable = true;
        }
    }

    public override void GetNodes (GraphNodeDelegateCancelable del) {
        if (nodes == null) return;

        for (int i = 0; i < nodes.Length; i++) {
            // Call the delegate and check if it wants
            // more nodes or not
            if (!del(nodes[i])) {
                // If it did not want more nodes
                // then just return
                return;
            }
        }
    }
}