RichAI Class Reference

Advanced AI for navmesh based graphs. More...

Detailed Description

Advanced AI for navmesh based graphs.

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	OnDisable ()
void	OnDrawGizmos ()
virtual void	UpdatePath ()
	Force recalculation of the current path.

Public Attributes
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.

Static Public Attributes
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 Member Functions
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.
virtual Vector3	UpdateTarget (RichFunnel fn)

Protected Attributes
bool	canSearchPath
bool	delayUpdatePath
bool	lastCorner
float	lastRepath = -9999
List< Vector3 >	nextCorners = new List<Vector3>()
RichPath	rp
Seeker	seeker
Transform	tr
bool	traversingSpecialPath
bool	waitingForPathCalc
List< Vector3 >	wallBuffer = new List<Vector3>()

Properties
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.

Private Member Functions
void	Awake ()
Vector2	CalculateAccelerationToReachPoint (Vector2 deltaPosition, Vector2 targetVelocity, Vector2 currentVelocity)
	Calculate an acceleration to move deltaPosition units and get there with approximately a velocity of targetVelocity.
Vector3	CalculateWallForce (Vector3 position, Vector3 directionToTarget)
void	NextPart ()
	Declare that the AI has completely traversed the current part.
void	OnPathComplete (Path p)
Vector3	RaycastPosition (Vector3 position, float lasty)
bool	RotateTowards (Vector3 trotdir)
	Rotates along the Y-axis the transform towards trotdir.
IEnumerator	SearchPaths ()
IEnumerator	TraverseSpecial (RichSpecial rs)

Static Private Member Functions
static Vector2	To2D (Vector3 v)

Private Attributes
CharacterController	controller
Vector3	currentTargetDirection
float	distanceToWaypoint = 999
Vector3	lastTargetPoint
RVOController	rvoController
bool	startHasRun
Vector3	velocity
	Current velocity of the agent.

Static Private Attributes
static float	deltaTime
	Smooth delta time to avoid getting overly affected by e.g GC.

Member Function Documentation

void Awake ( )

private

Vector2 CalculateAccelerationToReachPoint ( Vector2  deltaPosition, Vector2  targetVelocity, Vector2  currentVelocity  )

private

Calculate an acceleration to move deltaPosition units and get there with approximately a velocity of targetVelocity.

When preciseSlowdown is false, only the requirement that we should reach the target is used, not that our velocity should be zero when we reach the target.

Vector3 CalculateWallForce ( Vector3  position, Vector3  directionToTarget  )

private

void NextPart ( )

private

Declare that the AI has completely traversed the current part.

This will skip to the next part, or call OnTargetReached if this was the last part

void OnDisable

(

)

void OnDrawGizmos

(

)

virtual void OnEnable ( )

protectedvirtual

Run at start and when reenabled.

Starts RepeatTrySearchPath.

See Also

Start

void OnPathComplete ( Path  p )

private

virtual void OnTargetReached ( )

protectedvirtual

Called when the end of the path is reached.

Vector3 RaycastPosition ( Vector3  position, float  lasty  )

private

bool RotateTowards ( Vector3  trotdir )

private

Rotates along the Y-axis the transform towards trotdir.

Returns

True when the characters is approximately facing the desired direction.

IEnumerator SearchPaths ( )

private

virtual void Start ( )

protectedvirtual

Starts searching for paths.

If you override this function you should in most cases call base.Start () at the start of it.

See Also

OnEnable

SearchPaths

static Vector2 To2D ( Vector3  v )

staticprivate

IEnumerator TraverseSpecial ( RichSpecial  rs )

private

virtual void Update ( )

protectedvirtual

Update is called once per frame.

virtual 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 in LocalSpaceRichAI.

virtual Vector3 UpdateTarget ( RichFunnel  fn )

protectedvirtual

Reimplemented in LocalSpaceRichAI.

Member Data Documentation

float acceleration = 5

Max acceleration of the agent.

World units per second per second

Animation anim

bool canSearchPath

protected

float centerOffset = 1

CharacterController controller

private

Vector3 currentTargetDirection

private

bool delayUpdatePath

protected

float deltaTime

staticprivate

Smooth delta time to avoid getting overly affected by e.g GC.

float distanceToWaypoint = 999

private

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.

On tiled navmesh maps, but sometimes on normal ones as well, it can be good to simplify the funnel as a post-processing step.

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)

static

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.

Make sure this does not include the layer of any colliders attached to this gameobject.

bool lastCorner

protected

float lastRepath = -9999

protected

Vector3 lastTargetPoint

private

float maxSpeed = 1

Max speed of the agent.

World units per second

List<Vector3> nextCorners = new List<Vector3>()

protected

bool preciseSlowdown = true

Use a 3rd degree equation for calculating slowdown acceleration instead of a 2nd degree.

A 3rd degree equation can also make sure that the velocity when reaching the target is roughly zero and therefore it will have a more direct stop. In contrast solving a 2nd degree equation which will just make sure the target is reached but will usually have a larger velocity when reaching the target and therefore look more "bouncy".

bool raycastingForGroundPlacement = true

Raycast for ground placement (when not having a CharacterController).

A raycast from position + up*centerOffset downwards will be done and the agent will be placed at this point.

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.

In degrees per second.

RichPath rp

protected

RVOController rvoController

private

Seeker seeker

protected

float slowdownTime = 0.5f

How much time to use for slowdown in the end of the path.

A lower value give more abrupt stops

bool slowWhenNotFacingTarget = true

Slow down when not facing the target direction.

Incurs at a small overhead.

bool startHasRun

private

Transform target

Transform tr

protected

bool traversingSpecialPath

protected

Vector3 velocity

private

Current velocity of the agent.

Includes eventual velocity due to gravity

bool waitingForPathCalc

protected

List<Vector3> wallBuffer = new List<Vector3>()

protected

float wallDist = 1

Walls within this range will be used for avoidance.

Setting this to zero disables wall avoidance and may improve performance slightly

float wallForce = 3

Force to avoid walls with.

The agent will try to steer away from walls slightly.

Property Documentation

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.

Includes eventual velocity due to gravity

---

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

• /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Core/AI/RichAI.cs