Base class for AIPath and RichAI.
More...
Base class for AIPath and RichAI.
This class holds various methods and fields that are common to both AIPath and RichAI.
- See also
- Pathfinding.AIPath
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Pathfinding.RichAI
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Pathfinding.IAstarAI (all movement scripts implement this interface)
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| virtual void | FinalizeMovement (Vector3 nextPosition, Quaternion nextRotation) |
| | Moves the agent to a position. More...
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| virtual Vector3 | GetFeetPosition () |
| | Position of the base of the character. More...
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| virtual void | Move (Vector3 deltaPosition) |
| | Move the agent. More...
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| void | MovementUpdate (float deltaTime, out Vector3 nextPosition, out Quaternion nextRotation) |
| | Calculate how the character wants to move during this frame. More...
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| virtual void | SearchPath () |
| | Recalculate the current path. More...
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| void | SetPath (Path path) |
| | Make the AI follow the specified path. More...
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| Quaternion | SimulateRotationTowards (Vector3 direction, float maxDegrees) |
| | Simulates rotating the agent towards the specified direction and returns the new rotation. More...
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| virtual void | Teleport (Vector3 newPosition, bool clearPath=true) |
| | Instantly move the agent to a new position. More...
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| static readonly Color | ShapeGizmoColor = new Color(240/255f, 213/255f, 30/255f) |
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◆ AIBase()
◆ ApplyGravity()
| void ApplyGravity |
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float |
deltaTime | ) |
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protected |
◆ CalculateDeltaToMoveThisFrame()
| Vector2 CalculateDeltaToMoveThisFrame |
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Vector2 |
position, |
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float |
distanceToEndOfPath, |
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float |
deltaTime |
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) |
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protected |
Calculates how far to move during a single frame.
◆ CalculatePathRequestEndpoints()
| virtual void CalculatePathRequestEndpoints |
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out Vector3 |
start, |
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out Vector3 |
end |
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) |
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protectedvirtual |
Outputs the start point and end point of the next automatic path request.
This is a separate method to make it easy for subclasses to swap out the endpoints of path requests. For example the #LocalSpaceRichAI script which requires the endpoints to be transformed to graph space first.
Reimplemented in LocalSpaceRichAI.
◆ CancelCurrentPathRequest()
| void CancelCurrentPathRequest |
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protected |
◆ ClampToNavmesh()
| virtual Vector3 ClampToNavmesh |
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Vector3 |
position, |
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out bool |
positionChanged |
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) |
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protectedvirtual |
Constrains the character's position to lie on the navmesh.
Not all movement scripts have support for this.
- Parameters
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| position | Current position of the character. |
| positionChanged | True if the character's position was modified by this method. |
- Returns
- New position of the character that has been clamped to the navmesh.
Reimplemented in AIPath, and RichAI.
◆ FinalizeMovement()
| virtual void FinalizeMovement |
( |
Vector3 |
nextPosition, |
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Quaternion |
nextRotation |
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) |
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virtual |
Moves the agent to a position.
- Parameters
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| nextPosition | New position of the agent. |
| nextRotation | New rotation of the agent. If enableRotation is false then this parameter will be ignored. |
This is used if you want to override how the agent moves. For example if you are using root motion with Mecanim.
This will use a CharacterController, Rigidbody, Rigidbody2D or the Transform component depending on what options are available.
The agent will be clamped to the navmesh after the movement (if such information is available, generally this is only done by the RichAI component).
- See also
- MovementUpdate for some example code.
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controller, rigid, rigid2D
◆ FinalizePosition()
| void FinalizePosition |
( |
Vector3 |
nextPosition | ) |
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private |
◆ FinalizeRotation()
| void FinalizeRotation |
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Quaternion |
nextRotation | ) |
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private |
◆ FindComponents()
| virtual void FindComponents |
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protectedvirtual |
◆ FixedUpdate()
| virtual void FixedUpdate |
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protectedvirtual |
Called every physics update.
If rigidbodies are used then all movement happens here.
◆ GetFeetPosition()
| virtual Vector3 GetFeetPosition |
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virtual |
Position of the base of the character.
This is used for pathfinding as the character's pivot point is sometimes placed at the center of the character instead of near the feet. In a building with multiple floors the center of a character may in some scenarios be closer to the navmesh on the floor above than to the floor below which could cause an incorrect path to be calculated. To solve this the start point of the requested paths is always at the base of the character.
◆ Init()
◆ Move()
| virtual void Move |
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Vector3 |
deltaPosition | ) |
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virtual |
Move the agent.
- Parameters
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| deltaPosition | Direction and distance to move the agent in world space. |
This is intended for external movement forces such as those applied by wind, conveyor belts, knockbacks etc.
Some movement scripts may ignore this completely (notably the AILerp script) if it does not have any concept of being moved externally.
The agent will not be moved immediately when calling this method. Instead this offset will be stored and then applied the next time the agent runs its movement calculations (which is usually later this frame or the next frame). If you want to move the agent immediately then call:
ai.Move(someVector);
ai.FinalizeMovement(ai.position, ai.rotation);
◆ MovementUpdate()
| void MovementUpdate |
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float |
deltaTime, |
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out Vector3 |
nextPosition, |
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out Quaternion |
nextRotation |
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) |
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Calculate how the character wants to move during this frame.
- Parameters
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| deltaTime | time to simulate movement for. Usually set to Time.deltaTime. |
| nextPosition | the position that the agent wants to move to during this frame. |
| nextRotation | the rotation that the agent wants to rotate to during this frame. |
Note that this does not actually move the character. You need to call FinalizeMovement for that. This is called automatically unless canMove is false.
To handle movement yourself you can disable canMove and call this method manually. This code will replicate the normal behavior of the component:
ai.canMove = false;
Vector3 nextPosition;
Quaternion nextRotation;
ai.MovementUpdate(Time.deltaTime, out nextPosition, out nextRotation);
ai.FinalizeMovement(nextPosition, nextRotation);
}
◆ MovementUpdateInternal()
| abstract void MovementUpdateInternal |
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float |
deltaTime, |
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out Vector3 |
nextPosition, |
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out Quaternion |
nextRotation |
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) |
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protectedpure virtual |
Called during either Update or FixedUpdate depending on if rigidbodies are used for movement or not.
Implemented in AIPath, and RichAI.
◆ OnDisable()
| virtual void OnDisable |
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protectedvirtual |
◆ OnDrawGizmos()
| virtual void OnDrawGizmos |
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protectedvirtual |
◆ OnDrawGizmosSelected()
| virtual void OnDrawGizmosSelected |
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protectedvirtual |
◆ OnEnable()
| virtual void OnEnable |
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protectedvirtual |
Called when the component is enabled.
◆ OnPathComplete()
| abstract void OnPathComplete |
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Path |
newPath | ) |
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protectedpure virtual |
◆ OnUpgradeSerializedData()
| override int OnUpgradeSerializedData |
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int |
version, |
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bool |
unityThread |
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) |
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protectedvirtual |
◆ RaycastPosition()
| Vector3 RaycastPosition |
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Vector3 |
position, |
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float |
lastElevation |
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) |
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protected |
Checks if the character is grounded and prevents ground penetration.
- Parameters
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| position | Position of the character in the world. |
| lastElevation | Elevation coordinate before the agent was moved. This is along the 'up' axis of the movementPlane. |
Sets verticalVelocity to zero if the character is grounded.
- Returns
- The new position of the character.
◆ Reset()
◆ ResetShape()
◆ SearchPath()
| virtual void SearchPath |
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virtual |
Recalculate the current path.
You can for example use this if you want very quick reaction times when you have changed the destination so that the agent does not have to wait until the next automatic path recalculation (see canSearch).
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. A canceled path will show up in the log with the message "Canceled by script" (see #Seeker.CancelCurrentPathRequest()).
If no destination has been set yet then nothing will be done.
- Note
- The path result may not become available until after a few frames. During the calculation time the #pathPending property will return true.
- See also
- #pathPending
Reimplemented in RichAI.
◆ SetPath()
| void SetPath |
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Path |
path | ) |
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Make the AI follow the specified path.
In case the path has not been calculated, the script will call seeker.StartPath to calculate it. This means the AI may not actually start to follow the path until in a few frames when the path has been calculated. The #pathPending field will as usual return true while the path is being calculated.
In case the path has already been calculated it will immediately replace the current path the AI is following. This is useful if you want to replace how the AI calculates its paths. Note that if you calculate the path using seeker.StartPath then this script will already pick it up because it is listening for all paths that the Seeker finishes calculating. In that case you do not need to call this function.
You can disable the automatic path recalculation by setting the canSearch field to false.
ai.canSearch = false;
var pointToAvoid = enemy.position;
var path = FleePath.Construct(ai.position, pointToAvoid, 1000 * 20);
ai.SetPath(path);
◆ SimulateRotationTowards() [1/2]
| Quaternion SimulateRotationTowards |
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Vector3 |
direction, |
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float |
maxDegrees |
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) |
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Simulates rotating the agent towards the specified direction and returns the new rotation.
- Parameters
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| direction | Direction in world space to rotate towards. |
| maxDegrees | Maximum number of degrees to rotate this frame. |
Note that this only calculates a new rotation, it does not change the actual rotation of the agent. Useful when you are handling movement externally using FinalizeMovement but you want to use the built-in rotation code.
- See also
- orientation
◆ SimulateRotationTowards() [2/2]
| Quaternion SimulateRotationTowards |
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Vector2 |
direction, |
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float |
maxDegrees |
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) |
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protected |
Simulates rotating the agent towards the specified direction and returns the new rotation.
- Parameters
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| direction | Direction in the movement plane to rotate towards. |
| maxDegrees | Maximum number of degrees to rotate this frame. |
Note that this only calculates a new rotation, it does not change the actual rotation of the agent.
- See also
- orientation
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movementPlane
◆ Start()
Starts searching for paths.
If you override this method you should in most cases call base.Start () at the start of it.
- See also
- Init
Reimplemented in LocalSpaceRichAI.
◆ Teleport()
| virtual void Teleport |
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Vector3 |
newPosition, |
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bool |
clearPath = true |
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) |
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virtual |
Instantly move the agent to a new position.
This will trigger a path recalculation (if clearPath is true, which is the default) so if you want to teleport the agent and change its destination it is recommended that you set the destination before calling this method.
The current path will be cleared by default.
- See also
- Works similarly to Unity's NavmeshAgent.Warp.
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SearchPath
Reimplemented in RichAI, and AIPath.
◆ Update()
◆ UpdateVelocity()
◆ accumulatedMovementDelta
| Vector3 accumulatedMovementDelta = Vector3.zero |
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private |
Accumulated movement deltas from the Move method.
◆ canMove
Enables or disables movement completely.
If you want the agent to stand still, but still react to local avoidance and use gravity: use isStopped instead.
This is also useful if you want to have full control over when the movement calculations run. Take a look at MovementUpdate
- See also
- canSearch
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isStopped
◆ canSearch
Enables or disables recalculating the path at regular intervals.
Setting this to false does not stop any active path requests from being calculated or stop it from continuing to follow the current path.
Note that this only disables automatic path recalculations. If you call the SearchPath() method a path will still be calculated.
- See also
- canMove
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isStopped
◆ centerOffsetCompatibility
| float centerOffsetCompatibility |
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private |
◆ controller
| CharacterController controller |
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protected |
Cached CharacterController component.
◆ enableRotation
| bool enableRotation = true |
If true, the AI will rotate to face the movement direction.
- See also
- orientation
◆ gravity
| Vector3 gravity = new Vector3(float.NaN, float.NaN, float.NaN) |
Gravity to use.
If set to (NaN,NaN,NaN) then Physics.Gravity (configured in the Unity project settings) will be used. If set to (0,0,0) then no gravity will be used and no raycast to check for ground penetration will be performed.
◆ groundMask
| LayerMask groundMask = -1 |
◆ height
Radius of the agent in world units.
This is visualized in the scene view as a yellow cylinder around the character.
- Note
- The Pathfinding.AILerp script doesn't really have any use of knowing the radius or the height of the character, so this property will always return 0 in that script.
◆ lastDeltaPosition
| Vector2 lastDeltaPosition |
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protected |
Amount which the character wants or tried to move with during the last frame.
◆ lastDeltaTime
Delta time used for movement during the last frame.
◆ lastRepath
| float lastRepath = float.NegativeInfinity |
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protected |
Time when the last path request was started.
◆ maxSpeed
Max speed in world units per second.
◆ movementPlane
Plane which this agent is moving in.
This is used to convert between world space and a movement plane to make it possible to use this script in both 2D games and 3D games.
◆ orientation
Determines which direction the agent moves in.
For 3D games you most likely want the ZAxisIsForward option as that is the convention for 3D games. For 2D games you most likely want the YAxisIsForward option as that is the convention for 2D games.
Using the YAxisForward option will also allow the agent to assume that the movement will happen in the 2D (XY) plane instead of the XZ plane if it does not know. This is important only for the point graph which does not have a well defined up direction. The other built-in graphs (e.g the grid graph) will all tell the agent which movement plane it is supposed to use.
◆ prevFrame
◆ prevPosition1
Position of the character at the end of the last frame.
◆ prevPosition2
Position of the character at the end of the frame before the last frame.
◆ radius
Height of the agent in world units.
This is visualized in the scene view as a yellow cylinder around the character.
This value is currently only used if an RVOController is attached to the same GameObject, otherwise it is only used for drawing nice gizmos in the scene view. However since the height value is used for some things, the radius field is always visible for consistency and easier visualization of the character. That said, it may be used for something in a future release.
- Note
- The Pathfinding.AILerp script doesn't really have any use of knowing the radius or the height of the character, so this property will always return 0 in that script.
◆ repathRate
Determines how often the agent will search for new paths (in seconds).
The agent will plan a new path to the target every N seconds.
If you have fast moving targets or AIs, you might want to set it to a lower value.
- See also
- shouldRecalculatePath
-
SearchPath
◆ rigid
Cached Rigidbody component.
◆ rigid2D
Cached Rigidbody component.
◆ rvoController
Cached RVOController component.
◆ seeker
◆ ShapeGizmoColor
| readonly Color ShapeGizmoColor = new Color(240/255f, 213/255f, 30/255f) |
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static |
◆ simulatedPosition
| Vector3 simulatedPosition |
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protected |
Position of the agent.
If updatePosition is true then this value will be synchronized every frame with Transform.position.
◆ simulatedRotation
| Quaternion simulatedRotation |
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protected |
Rotation of the agent.
If updateRotation is true then this value will be synchronized every frame with Transform.rotation.
◆ startHasRun
True if the Start method has been executed.
Used to test if coroutines should be started in OnEnable to prevent calculating paths in the awake stage (or rather before start on frame 0).
◆ targetCompatibility
| Transform targetCompatibility |
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private |
◆ tr
Cached Transform component.
◆ updatePosition
| bool updatePosition = true |
Determines if the character's position should be coupled to the Transform's position.
If false then all movement calculations will happen as usual, but the object that this component is attached to will not move instead only the position property will change.
This is useful if you want to control the movement of the character using some other means such as for example root motion but still want the AI to move freely.
- See also
- Combined with calling MovementUpdate from a separate script instead of it being called automatically one can take a similar approach to what is documented here: https://docs.unity3d.com/Manual/nav-CouplingAnimationAndNavigation.html
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canMove which in contrast to this field will disable all movement calculations.
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updateRotation
◆ updateRotation
| bool updateRotation = true |
Determines if the character's rotation should be coupled to the Transform's rotation.
If false then all movement calculations will happen as usual, but the object that this component is attached to will not rotate instead only the rotation property will change.
- See also
- updatePosition
◆ velocity2D
Current desired velocity of the agent (does not include local avoidance and physics).
Lies in the movement plane.
◆ verticalVelocity
Velocity due to gravity.
Perpendicular to the movement plane.
When the agent is grounded this may not accurately reflect the velocity of the agent. It may be non-zero even though the agent is not moving.
◆ waitingForPathCalculation
| bool waitingForPathCalculation = false |
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protected |
Only when the previous path has been calculated should the script consider searching for a new path.
◆ centerOffset
Offset along the Y coordinate for the ground raycast start position.
Normally the pivot of the character is at the character's feet, but you usually want to fire the raycast from the character's center, so this value should be half of the character's height.
A green gizmo line will be drawn upwards from the pivot point of the character to indicate where the raycast will start.
- See also
- gravity
- Deprecated:
- Use the height property instead (2x this value)
◆ desiredVelocity
Velocity that this agent wants to move with.
Includes gravity and local avoidance if applicable.
◆ destination
Position in the world that this agent should move to.
If no destination has been set yet, then (+infinity, +infinity, +infinity) will be returned.
Note that setting this property does not immediately cause the agent to recalculate its path. So it may take some time before the agent starts to move towards this point. Most movement scripts have a repathRate field which indicates how often the agent looks for a new path. You can also call the SearchPath method to immediately start to search for a new path. Paths are calculated asynchronously so when an agent starts to search for path it may take a few frames (usually 1 or 2) until the result is available. During this time the #pathPending property will return true.
If you are setting a destination and then want to know when the agent has reached that destination then you should check both #pathPending and #reachedEndOfPath:
ai.destination = somePoint;
ai.SearchPath();
while (ai.pathPending || !ai.reachedEndOfPath) {
yield return null;
}
}
◆ isStopped
Gets or sets if the agent should stop moving.
If this is set to true the agent will immediately start to slow down as quickly as it can to come to a full stop. The agent will still react to local avoidance and gravity (if applicable), but it will not try to move in any particular direction.
The current path of the agent will not be cleared, so when this is set to false again the agent will continue moving along the previous path.
This is a purely user-controlled parameter, so for example it is not set automatically when the agent stops moving because it has reached the target. Use #reachedEndOfPath for that.
If this property is set to true while the agent is traversing an off-mesh link (RichAI script only), then the agent will continue traversing the link and stop once it has completed it.
- Note
- This is not the same as the canMove setting which some movement scripts have. The canMove setting disables movement calculations completely (which among other things makes it not be affected by local avoidance or gravity). For the AILerp movement script which doesn't use gravity or local avoidance anyway changing this property is very similar to changing canMove.
The #steeringTarget property will continue to indicate the point which the agent would move towards if it would not be stopped.
◆ onSearchPath
| System.Action onSearchPath |
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getset |
Called when the agent recalculates its path.
This is called both for automatic path recalculations (see canSearch) and manual ones (see SearchPath).
- See also
- Take a look at the Pathfinding.AIDestinationSetter source code for an example of how it can be used.
◆ position
Position of the agent.
In world space. If updatePosition is true then this value is idential to transform.position.
- See also
- Teleport
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Move
◆ rotation
Rotation of the agent.
If updateRotation is true then this value is identical to transform.rotation.
◆ rotationIn2D
If true, the forward axis of the character will be along the Y axis instead of the Z axis.
- Deprecated:
- Use orientation instead
◆ shouldRecalculatePath
| virtual bool shouldRecalculatePath |
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getprotected |
True if the path should be automatically recalculated as soon as possible.
◆ target
Target to move towards.
The AI will try to follow/move towards this target. It can be a point on the ground where the player has clicked in an RTS for example, or it can be the player object in a zombie game.
- Deprecated:
- In 4.1 this will automatically add a AIDestinationSetter component and set the target on that component. Try instead to use the destination property which does not require a transform to be created as the target or use the AIDestinationSetter component directly.
◆ usingGravity
Indicates if gravity is used during this frame.
◆ velocity
Actual velocity that the agent is moving with.
In world units per second.
- See also
- desiredVelocity
The documentation for this class was generated from the following file:
- /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Core/AI/AIBase.cs
Protected Member Functions inherited from VersionedMonoBehaviour
