Node represented by a triangle. More...

Detailed Description

Node represented by a triangle.

Public Member Functions
	TriangleMeshNode (AstarPath astar)

override Vector3	ClosestPointOnNode (Vector3 p)
	Closest point on the surface of this node to the point p. More...

override Vector3	ClosestPointOnNodeXZ (Vector3 p)
	Closest point on the surface of this node when seen from above. More...

override bool	ContainsPoint (Vector3 p)
	Checks if point is inside the node when seen from above. More...

override bool	ContainsPointInGraphSpace (Int3 p)
	Checks if point is inside the node in graph space. More...

override void	DeserializeNode (GraphSerializationContext ctx)
	Deserializes the node data from a byte array. More...

override bool	GetPortal (GraphNode toNode, System.Collections.Generic.List< Vector3 > left, System.Collections.Generic.List< Vector3 > right, bool backwards)

bool	GetPortal (GraphNode toNode, System.Collections.Generic.List< Vector3 > left, System.Collections.Generic.List< Vector3 > right, bool backwards, out int aIndex, out int bIndex)

override Int3	GetVertex (int i)
	Get a vertex of this node. More...

int	GetVertexArrayIndex (int i)
	Return a number specifying an index in the source vertex array. More...

override int	GetVertexCount ()
	Number of corner vertices that this node has. More...

int	GetVertexIndex (int i)
	Return a number identifying a vertex. More...

Int3	GetVertexInGraphSpace (int i)

void	GetVertices (out Int3 v0, out Int3 v1, out Int3 v2)
	Returns all 3 vertices of this node in world space. More...

void	GetVerticesInGraphSpace (out Int3 v0, out Int3 v1, out Int3 v2)
	Returns all 3 vertices of this node in graph space. More...

override void	Open (Path path, PathNode pathNode, PathHandler handler)
	Open the node. More...

override Vector3	RandomPointOnSurface ()
	A random point on the surface of the node. More...

override void	SerializeNode (GraphSerializationContext ctx)
	Serialized the node data to a byte array. More...

int	SharedEdge (GraphNode other)
	Returns the edge which is shared with other. More...

override float	SurfaceArea ()

void	UpdatePositionFromVertices ()
	Set the position of this node to the average of its 3 vertices. More...

override void	UpdateRecursiveG (Path path, PathNode pathNode, PathHandler handler)

Public Member Functions inherited from MeshNode
override void	AddConnection (GraphNode node, uint cost)
	Add a connection from this node to the specified node. More...

void	AddConnection (GraphNode node, uint cost, int shapeEdge)
	Add a connection from this node to the specified node. More...

override void	ClearConnections (bool alsoReverse)
	Remove all connections from this node. More...

override bool	ContainsConnection (GraphNode node)
	Checks if this node has a connection to the specified node. More...

virtual bool	ContainsPoint (Int3 point)
	Checks if point is inside the node when seen from above. More...

override void	DeserializeReferences (GraphSerializationContext ctx)
	Used to deserialize references to other nodes e.g connections. More...

override void	GetConnections (System.Action< GraphNode > action)
	Calls the delegate with all connections from this node. More...

override int	GetGizmoHashCode ()
	Hash code used for checking if the gizmos need to be updated. More...

override void	RemoveConnection (GraphNode node)
	Removes any connection from this node to the specified node. More...

override void	SerializeReferences (GraphSerializationContext ctx)
	Used to serialize references to other nodes e.g connections. More...

Public Member Functions inherited from GraphNode
virtual bool	GetPortal (GraphNode other, List< Vector3 > left, List< Vector3 > right, bool backwards)
	Add a portal from this node to the specified node. More...

void	SetConnectivityDirty ()
	Inform the system that the node's connectivity has changed. More...

Static Public Member Functions
static INavmeshHolder	GetNavmeshHolder (uint graphIndex)

static void	SetNavmeshHolder (int graphIndex, INavmeshHolder graph)
	Sets the internal navmesh holder for a given graph index. More...

Public Attributes
int	v0
	Internal vertex index for the first vertex. More...

int	v1
	Internal vertex index for the second vertex. More...

int	v2
	Internal vertex index for the third vertex. More...

Public Attributes inherited from MeshNode
Connection []	connections
	All connections from this node. More...

Public Attributes inherited from GraphNode
const uint	MaxGraphIndex = FlagsGraphMask >> FlagsGraphOffset
	Max number of graphs-1. More...

const uint	MaxHierarchicalNodeIndex = HierarchicalIndexMask >> FlagsHierarchicalIndexOffset

Int3	position
	Position of the node in world space. More...

Static Protected Attributes
static INavmeshHolder []	_navmeshHolders = new INavmeshHolder[0]
	Holds INavmeshHolder references for all graph indices to be able to access them in a performant manner. More...

static readonly System.Object	lockObject = new System.Object()
	Used for synchronised access to the _navmeshHolders array. More...

Package Functions
Int3	ClosestPointOnNodeXZInGraphSpace (Vector3 p)
	Closest point on the node when seen from above. More...

Package Functions inherited from GraphNode
void	Destroy ()
	Destroys the node. More...

Additional Inherited Members
Protected Member Functions inherited from MeshNode
	MeshNode (AstarPath astar)

Protected Member Functions inherited from GraphNode
	GraphNode (AstarPath astar)
	Constructor for a graph node. More...

Protected Attributes inherited from GraphNode
uint	flags
	Bitpacked field holding several pieces of data. More...

Properties inherited from GraphNode
uint	Area `[get]`
	Connected component that contains the node. More...

bool	Destroyed `[get]`

uint	Flags `[get, set]`
	Holds various bitpacked variables. More...

NavGraph	Graph `[get]`
	Graph which this node belongs to. More...

uint	GraphIndex `[get, set]`
	Graph which contains this node. More...

int	HierarchicalNodeIndex `[get, set]`
	Hierarchical Node that contains this node. More...

bool	IsHierarchicalNodeDirty `[get, set]`
	Some internal bookkeeping. More...

int	NodeIndex `[get, private set]`
	Internal unique index. More...

uint	Penalty `[get, set]`
	Penalty cost for walking on this node. More...

uint	Tag `[get, set]`
	Node tag. More...

bool	TemporaryFlag1 `[get, set]`
	Temporary flag for internal purposes. More...

bool	TemporaryFlag2 `[get, set]`
	Temporary flag for internal purposes. More...

bool	Walkable `[get, set]`
	True if the node is traversable. More...

Constructor & Destructor Documentation

◆ TriangleMeshNode()

TriangleMeshNode ( AstarPath astar )

Member Function Documentation

◆ ClosestPointOnNode()

override Vector3 ClosestPointOnNode ( Vector3 p )

virtual

Closest point on the surface of this node to the point p.

Implements MeshNode.

◆ ClosestPointOnNodeXZ()

override Vector3 ClosestPointOnNodeXZ ( Vector3 p )

virtual

Closest point on the surface of this node when seen from above.

This is usually very similar to ClosestPointOnNode but when the node is in a slope this can be significantly different.

When the blue point in the above image is used as an argument this method call will return the green point while the ClosestPointOnNode method will return the red point.

Implements MeshNode.

◆ ClosestPointOnNodeXZInGraphSpace()

Int3 ClosestPointOnNodeXZInGraphSpace ( Vector3 p )

package

Closest point on the node when seen from above.

This method is mostly for internal use as the Pathfinding.NavmeshBase.Linecast methods use it.

The returned point is the closest one on the node to p when seen from above (relative to the graph). This is important mostly for sloped surfaces.
The returned point is an Int3 point in graph space.
It is guaranteed to be inside the node, so if you call ContainsPointInGraphSpace with the return value from this method the result is guaranteed to be true.

This method is slower than e.g ClosestPointOnNode or ClosestPointOnNodeXZ. However they do not have the same guarantees as this method has.

◆ ContainsPoint()

override bool ContainsPoint ( Vector3 point )

virtual

Checks if point is inside the node when seen from above.

Note that ContainsPointInGraphSpace is faster than this method as it avoids some coordinate transformations. If you are repeatedly calling this method on many different nodes but with the same point then you should consider transforming the point first and then calling ContainsPointInGraphSpace.

        Int3 p = (Int3)graph.transform.InverseTransform(point);
        node.ContainsPointInGraphSpace(p);

Implements MeshNode.

◆ ContainsPointInGraphSpace()

override bool ContainsPointInGraphSpace ( Int3 point )

virtual

Checks if point is inside the node in graph space.

In graph space the up direction is always the Y axis so in principle we project the triangle down on the XZ plane and check if the point is inside the 2D triangle there.

Implements MeshNode.

◆ DeserializeNode()

override void DeserializeNode ( GraphSerializationContext ctx )

virtual

Deserializes the node data from a byte array.

Reimplemented from GraphNode.

◆ GetNavmeshHolder()

static INavmeshHolder GetNavmeshHolder ( uint graphIndex )

static

◆ GetPortal() [1/2]

override bool GetPortal	(	GraphNode	toNode,
		System.Collections.Generic.List< Vector3 >	left,
		System.Collections.Generic.List< Vector3 >	right,
		bool	backwards
	)

◆ GetPortal() [2/2]

bool GetPortal	(	GraphNode	toNode,
		System.Collections.Generic.List< Vector3 >	left,
		System.Collections.Generic.List< Vector3 >	right,
		bool	backwards,
		out int	aIndex,
		out int	bIndex
	)

◆ GetVertex()

override Int3 GetVertex ( int i )

virtual

Get a vertex of this node.

Parameters

i	vertex index. Must be between 0 and GetVertexCount (exclusive).

Implements MeshNode.

◆ GetVertexArrayIndex()

int GetVertexArrayIndex ( int i )

Return a number specifying an index in the source vertex array.

The vertex array can for example be contained in a recast tile, or be a navmesh graph, that is graph dependant. This is slower than GetVertexIndex, if you only need to compare vertices, use GetVertexIndex.

◆ GetVertexCount()

override int GetVertexCount ( )

virtual

Number of corner vertices that this node has.

For example for a triangle node this will return 3.

Implements MeshNode.

◆ GetVertexIndex()

int GetVertexIndex ( int i )

Return a number identifying a vertex.

This number does not necessarily need to be a index in an array but two different vertices (in the same graph) should not have the same vertex numbers.

◆ GetVertexInGraphSpace()

Int3 GetVertexInGraphSpace ( int i )

◆ GetVertices()

void GetVertices	(	out Int3	v0,
		out Int3	v1,
		out Int3	v2
	)

Returns all 3 vertices of this node in world space.

◆ GetVerticesInGraphSpace()

void GetVerticesInGraphSpace	(	out Int3	v0,
		out Int3	v1,
		out Int3	v2
	)

Returns all 3 vertices of this node in graph space.

◆ Open()

override void Open	(	Path	path,
		PathNode	pathNode,
		PathHandler	handler
	)

virtual

Open the node.

Used internally for the A* algorithm.

Implements GraphNode.

◆ RandomPointOnSurface()

override Vector3 RandomPointOnSurface ( )

virtual

A random point on the surface of the node.

For point nodes and other nodes which do not have a surface, this will always return the position of the node.

Reimplemented from GraphNode.

◆ SerializeNode()

override void SerializeNode ( GraphSerializationContext ctx )

virtual

Serialized the node data to a byte array.

Reimplemented from GraphNode.

◆ SetNavmeshHolder()

static void SetNavmeshHolder	(	int	graphIndex,
		INavmeshHolder	graph
	)

static

Sets the internal navmesh holder for a given graph index.

Warning: Internal method

◆ SharedEdge()

int SharedEdge ( GraphNode other )

Returns the edge which is shared with other.

If no edge is shared, -1 is returned. If there is a connection with the other node, but the connection is not marked as using a particular edge of the shape of the node then 0xFF will be returned.

The vertices in the edge can be retrieved using

var edge = node.SharedEdge(other);
var a = node.GetVertex(edge);
var b = node.GetVertex((edge+1) % node.GetVertexCount());

See also: GetPortal which also handles edges that are shared over tile borders and some types of node links

◆ SurfaceArea()

override float SurfaceArea ( )

virtual

Todo:: This is the area in XZ space, use full 3D space for higher correctness maybe?

Reimplemented from GraphNode.

◆ UpdatePositionFromVertices()

void UpdatePositionFromVertices ( )

Set the position of this node to the average of its 3 vertices.

◆ UpdateRecursiveG()

override void UpdateRecursiveG	(	Path	path,
		PathNode	pathNode,
		PathHandler	handler
	)

virtual

Reimplemented from MeshNode.

Member Data Documentation

◆ _navmeshHolders

INavmeshHolder [] _navmeshHolders = new INavmeshHolder[0]

staticprotected

Holds INavmeshHolder references for all graph indices to be able to access them in a performant manner.

◆ lockObject

readonly System.Object lockObject = new System.Object()

staticprotected

Used for synchronised access to the _navmeshHolders array.

◆ v0

int v0

Internal vertex index for the first vertex.

◆ v1

int v1

Internal vertex index for the second vertex.

◆ v2

int v2

Internal vertex index for the third vertex.

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

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

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Protected Attributes

Package Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ TriangleMeshNode()

Member Function Documentation

◆ ClosestPointOnNode()

◆ ClosestPointOnNodeXZ()

◆ ClosestPointOnNodeXZInGraphSpace()

◆ ContainsPoint()

◆ ContainsPointInGraphSpace()

◆ DeserializeNode()

◆ GetNavmeshHolder()

◆ GetPortal() [1/2]

◆ GetPortal() [2/2]

◆ GetVertex()

◆ GetVertexArrayIndex()

◆ GetVertexCount()

◆ GetVertexIndex()

◆ GetVertexInGraphSpace()

◆ GetVertices()

◆ GetVerticesInGraphSpace()

◆ Open()

◆ RandomPointOnSurface()

◆ SerializeNode()

◆ SetNavmeshHolder()

◆ SharedEdge()

◆ SurfaceArea()

◆ UpdatePositionFromVertices()

◆ UpdateRecursiveG()

Member Data Documentation

◆ _navmeshHolders

◆ lockObject

◆ v0

◆ v1

◆ v2