Base class for all graphs. More...

Detailed Description

Base class for all graphs.

Public Member Functions
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 ()
	Number of nodes in the graph.

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

virtual void	DeserializeSettingsCompatibility (GraphSerializationContext ctx)
	An old format for serializing settings.

NNInfoInternal	GetNearest (Vector3 position)
	Returns the nearest node to a position using the default NNConstraint.

NNInfoInternal	GetNearest (Vector3 position, NNConstraint constraint)
	Returns the nearest node to a position using the specified NNConstraint.

virtual NNInfoInternal	GetNearest (Vector3 position, NNConstraint constraint, GraphNode hint)
	Returns the nearest node to a position using the specified NNConstraint.

virtual NNInfoInternal	GetNearestForce (Vector3 position, NNConstraint constraint)
	Returns the nearest node to a position using the specified constraint .

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

virtual Color	NodeColor (GraphNode node, PathHandler data)
	Color to use for gizmos.

virtual void	OnDestroy ()
	Function for cleaning up references.

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

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

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

void	Scan ()

void	ScanGraph ()
	Partially scan the graph.

abstract IEnumerable< Progress >	ScanInternal ()
	Internal method to scan the graph.

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

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

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

Public Attributes
AstarPath	active
	Reference to the AstarPath object in the scene.

bool	drawGizmos = true
	Enable to draw gizmos in the Unity scene view.

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

Guid	guid
	Used as an ID of the graph, considered to be unique.

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.

Package Functions
virtual void	UnloadGizmoMeshes ()
	Called when temporary meshes used in OnDrawGizmos need to be unloaded to prevent memory leaks.

Member Function Documentation

virtual void Awake ( )

virtual

This will be called on the same time as Awake on the gameObject which the AstarPath script is attached to.

(remember, not in the editor) Use this for any initialization code which can't be placed in Scan

virtual int CountNodes ( )

virtual

Number of nodes in the graph.

Note that this is, unless the graph type has overriden it, an O(n) operation.

This is an O(1) operation for grid graphs and point graphs. For layered grid graphs it is an O(n) operation.

Reimplemented in PointGraph, GridGraph, and LayerGridGraph.

virtual void DeserializeExtraInfo ( GraphSerializationContext ctx )

virtual

Deserializes graph type specific node data.

See Also: SerializeExtraInfo

Reimplemented in GridGraph, RecastGraph, LayerGridGraph, NavMeshGraph, and PointGraph.

virtual void DeserializeSettingsCompatibility ( GraphSerializationContext ctx )

virtual

An old format for serializing settings.

Deprecated:: This is deprecated now, but the deserialization code is kept to avoid loosing data when upgrading from older versions.

Reimplemented in GridGraph, RecastGraph, NavMeshGraph, and PointGraph.

NNInfoInternal GetNearest ( Vector3 position )

Returns the nearest node to a position using the default NNConstraint.

Parameters

position The position to try to find a close node to

See Also: Pathfinding.NNConstraint.None

NNInfoInternal GetNearest	(	Vector3	position,
		NNConstraint	constraint
	)

Returns the nearest node to a position using the specified NNConstraint.

Parameters

position	The position to try to find a close node to
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.

virtual NNInfoInternal 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 in RecastGraph, LayerGridGraph, GridGraph, NavMeshGraph, and PointGraph.

virtual NNInfoInternal GetNearestForce	(	Vector3	position,
		NNConstraint	constraint
	)

virtual

Returns the nearest node to a position using the specified constraint .

Returns: an NNInfo. This method will only return an empty NNInfo if there are no nodes which comply with the specified constraint.

Reimplemented in LayerGridGraph, RecastGraph, GridGraph, NavMeshGraph, and PointGraph.

abstract void GetNodes ( GraphNodeDelegateCancelable del )

pure virtual

Calls a delegate with all nodes in the graph.

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

Do not change the graph structure inside the delegate.

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

Implemented in RecastGraph, PointGraph, GridGraph, LayerGridGraph, NavMeshGraph, and QuadtreeGraph.

static bool InSearchTree	(	GraphNode	node,
		Path	path
	)

static

Returns if the node is in the search tree of the path.

Only guaranteed to be correct if path is the latest path calculated. Use for gizmo drawing only.

virtual Color NodeColor	(	GraphNode	node,
		PathHandler	data
	)

virtual

Color to use for gizmos.

Returns a color to be used for the specified node with the current debug settings (editor only).

Version: Since 3.6.1 this method will not handle null nodes

virtual void OnDestroy ( )

virtual

Function for cleaning up references.

This will be called on the same time as OnDisable on the gameObject which the AstarPath script is attached to (remember, not in the editor). Use for any cleanup code such as cleaning up static variables which otherwise might prevent resources from being collected. Use by creating a function overriding this one in a graph class, but always call base.OnDestroy () in that function. All nodes should be destroyed in this function otherwise a memory leak will arise.

Reimplemented in RecastGraph, GridGraph, NavMeshGraph, and LayerGridGraph.

virtual void OnDrawGizmos ( bool drawNodes )

virtual

Draw gizmos for the graph.

Reimplemented in RecastGraph, GridGraph, LayerGridGraph, NavMeshGraph, and QuadtreeGraph.

virtual 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 in GridGraph, LayerGridGraph, and PointGraph.

virtual void RelocateNodes	(	Matrix4x4	oldMatrix,
		Matrix4x4	newMatrix
	)

virtual

Relocates the nodes in this graph.

Assumes the nodes are already transformed using the "oldMatrix", then transforms them such that it will look like they have only been transformed using the "newMatrix". The "oldMatrix" is not required by all implementations of this function though (e.g the NavMesh generator).

The matrix the graph is transformed with is typically stored in the matrix field, so the typical usage for this method is

var myNewMatrix = Matrix4x4.TRS (...);

myGraph.RelocateNodes (myGraph.matrix, myNewMatrix);

So for example if you want to move all your nodes in e.g a point graph 10 units along the X axis from the initial position

var graph = AstarPath.astarData.pointGraph;
var m = Matrix4x4.TRS (new Vector3(10,0,0), Quaternion.identity, Vector3.one);
graph.RelocateNodes (graph.matrix, m);

Note: For grid graphs it is recommended to use the helper method RelocateNodes which takes parameters for center and nodeSize (and additional parameters) instead since it is both easier to use and is less likely to mess up pathfinding.

Warning: This method is lossy, so calling it many times may cause node positions to lose precision. For example if you set the scale to 0 in one call, and then to 1 in the next call, it will not be able to recover the correct positions since when the scale was 0, all nodes were scaled/moved to the same point. The same thing happens for other - less extreme - values as well, but to a lesser degree.

Version: Prior to version 3.6.1 the oldMatrix and newMatrix parameters were reversed by mistake.

Reimplemented in PointGraph, RecastGraph, and NavMeshGraph.

void Scan ( )

void ScanGraph ( )

Partially scan the graph.

Consider using AstarPath.Scan () instead since this function might screw things up if there is more than one graph. This function does not perform all necessary postprocessing for the graph to work with pathfinding (e.g flood fill). See the source of the AstarPath.Scan function to see how it can be used. In almost all cases you should use AstarPath.Scan instead.

abstract IEnumerable<Progress> ScanInternal ( )

pure virtual

Internal method to scan the graph.

Called from AstarPath.ScanAsync. Override this function to implement custom scanning logic. Progress objects can be yielded to show progress info in the editor and to split up processing over several frames when using async scanning.

Implemented in RecastGraph, GridGraph, NavMeshGraph, LayerGridGraph, PointGraph, and QuadtreeGraph.

virtual 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 in GridGraph, RecastGraph, LayerGridGraph, NavMeshGraph, and PointGraph.

void SetMatrix ( Matrix4x4 m )

Use to set both matrix and inverseMatrix at the same time.

virtual void UnloadGizmoMeshes ( )

packagevirtual

Called when temporary meshes used in OnDrawGizmos need to be unloaded to prevent memory leaks.

Member Data Documentation

AstarPath active

Reference to the AstarPath object in the scene.

Might not be entirely safe to use, it's better to use AstarPath.active.

Todo:: Make it safe to use at all times

bool drawGizmos = true

Enable to draw gizmos in the Unity scene view.

In the inspector this value corresponds to the state of the 'eye' icon in the top left corner of every graph inspector.

uint graphIndex

Index of the graph, used for identification purposes.

Guid guid

Used as an ID of the graph, considered to be unique.

Note: This is Pathfinding.Util.Guid not System.Guid. A replacement for System.Guid was coded for better compatibility with iOS

bool infoScreenOpen

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

Should be inside UNITY_EDITOR only #ifs but just in case anyone tries to serialize a NavGraph instance using Unity, I have left it like this as it would otherwise cause a crash when building. Version 3.0.8.1 was released because of this bug only

uint initialPenalty

Default penalty to apply to all nodes.

Matrix4x4 inverseMatrix = Matrix4x4.identity

Inverse of matrix.

Note: Do not set directly, use SetMatrix

See Also: matrix

Matrix4x4 matrix = Matrix4x4.identity

A matrix for translating/rotating/scaling the graph.

Not all graph generators sets this variable though.

Note: Do not set directly, use SetMatrix; This value is not serialized. It is expected that graphs regenerate this field after deserialization has completed.

string name

Name of the graph.

Can be set in the unity editor

bool open

Is the graph open in the editor.

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

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

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Package Functions

Member Function Documentation

Member Data Documentation