GraphCollision Class Reference

Handles collision checking for graphs. More...

Detailed Description

Handles collision checking for graphs.

Mostly used by grid based graphs

Public Member Functions
bool	Check (Vector3 position)
	Returns if the position is obstructed.
Vector3	CheckHeight (Vector3 position)
	Returns the position with the correct height.
Vector3	CheckHeight (Vector3 position, out RaycastHit hit, out bool walkable)
	Returns the position with the correct height.
RaycastHit[]	CheckHeightAll (Vector3 position)
	Returns all hits when checking height for position.
void	DeserializeSettingsCompatibility (GraphSerializationContext ctx)
void	Initialize (GraphTransform transform, float scale)
	Sets up several variables using the specified matrix and scale.
Vector3	Raycast (Vector3 origin, out RaycastHit hit, out bool walkable)
	Same as CheckHeight, except that the raycast will always start exactly at origin.

Public Attributes
bool	collisionCheck = true
	Toggle collision check.
float	collisionOffset
	Height above the ground that collision checks should be done.
float	diameter = 1F
	Diameter of capsule or sphere when checking for collision.
float	fromHeight = 100
	The height to check from when checking height.
float	height = 2F
	Height of capsule or length of ray when checking for collision.
bool	heightCheck = true
	Toggle height check.
LayerMask	heightMask = -1
	Layer mask to use for height check.
LayerMask	mask
	Layer mask to use for collision check.
const float	RaycastErrorMargin = 0.005F
	Offset to apply after each raycast to make sure we don't hit the same point again in CheckHeightAll.
RayDirection	rayDirection = RayDirection.Both
	Direction of the ray when checking for collision.
bool	thickRaycast
	Toggles thick raycast.
float	thickRaycastDiameter = 1
	Diameter of the thick raycast in nodes.
ColliderType	type = ColliderType.Capsule
	Collision shape to use.
bool	unwalkableWhenNoGround = true
	Make nodes unwalkable when no ground was found with the height raycast.
Vector3	up
	Direction to use as UP.
bool	use2D
	Use Unity 2D Physics API.

Private Attributes
float	finalRadius
	diameter * scale * 0.5.
float	finalRaycastRadius
	thickRaycastDiameter * scale * 0.5.
Vector3	upheight
	up * height.

Member Function Documentation

bool Check

(

Vector3

position

)

Returns if the position is obstructed.

If collisionCheck is false, this will always return true.

Vector3 CheckHeight

(

Vector3

position

)

Returns the position with the correct height.

If heightCheck is false, this will return position.

Vector3 CheckHeight	(	Vector3	position,
		out RaycastHit	hit,
		out bool	walkable
	)

Returns the position with the correct height.

If heightCheck is false, this will return position.
walkable will be set to false if nothing was hit. The ray will check a tiny bit further than to the grids base to avoid floating point errors when the ground is exactly at the base of the grid

RaycastHit [] CheckHeightAll

(

Vector3

position

)

Returns all hits when checking height for position.

Warning

Does not work well with thick raycast, will only return an object a single time

void DeserializeSettingsCompatibility

(

GraphSerializationContext

ctx

)

void Initialize	(	GraphTransform	transform,
		float	scale
	)

Sets up several variables using the specified matrix and scale.

See Also

GraphCollision.up

GraphCollision.upheight

GraphCollision.finalRadius

GraphCollision.finalRaycastRadius

Vector3 Raycast	(	Vector3	origin,
		out RaycastHit	hit,
		out bool	walkable
	)

Same as CheckHeight, except that the raycast will always start exactly at origin.

walkable will be set to false if nothing was hit. The ray will check a tiny bit further than to the grids base to avoid floating point errors when the ground is exactly at the base of the grid

Member Data Documentation

bool collisionCheck = true

Toggle collision check.

float collisionOffset

Height above the ground that collision checks should be done.

For example, if the ground was found at y=0, collisionOffset = 2 type = Capsule and height = 3 then the physics system will be queried to see if there are any colliders in a capsule for which the bottom sphere that is made up of is centered at y=2 and the top sphere has its center at y=2+3=5.

If type = Sphere then the sphere's center would be at y=2 in this case.

float diameter = 1F

Diameter of capsule or sphere when checking for collision.

1 equals nodeSize . If type is set to Ray, this does not affect anything

float finalRadius

private

diameter * scale * 0.5.

Where scale usually is nodeSize

See Also

Initialize

float finalRaycastRadius

private

thickRaycastDiameter * scale * 0.5.

Where scale usually is nodeSize

See Also

Initialize

float fromHeight = 100

The height to check from when checking height.

float height = 2F

Height of capsule or length of ray when checking for collision.

If type is set to Sphere, this does not affect anything

bool heightCheck = true

Toggle height check.

If false, the grid will be flat

LayerMask heightMask = -1

Layer mask to use for height check.

LayerMask mask

Layer mask to use for collision check.

This should only contain layers of objects defined as obstacles

const float RaycastErrorMargin = 0.005F

Offset to apply after each raycast to make sure we don't hit the same point again in CheckHeightAll.

RayDirection rayDirection = RayDirection.Both

Direction of the ray when checking for collision.

If type is not Ray, this does not affect anything

Note

This variable is not used currently, it does not affect anything

bool thickRaycast

Toggles thick raycast.

float thickRaycastDiameter = 1

Diameter of the thick raycast in nodes.

1 equals nodeSize

ColliderType type = ColliderType.Capsule

Collision shape to use.

Pathfinding.ColliderType

bool unwalkableWhenNoGround = true

Make nodes unwalkable when no ground was found with the height raycast.

If height raycast is turned off, this doesn't affect anything.

Vector3 up

Direction to use as UP.

See Also

Initialize

Vector3 upheight

private

up * height.

See Also

Initialize

bool use2D

Use Unity 2D Physics API.

See Also

http://docs.unity3d.com/ScriptReference/Physics2D.html

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

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