Class ABPath Extends Path

bool calculatePartial

Calculate partial path if the target node cannot be reached.

If the target node cannot be reached, the node which was closest (given by heuristic) will be chosen as target node and a partial path will be returned. This only works if a heuristic is used (which is the default). If a partial path is found, CompleteState is set to Partial.

The endNode and endPoint will be modified and be set to the node which ends up being closest to the target.

uint cost

Total cost of this path as used by the pathfinding algorithm.

The cost is influenced by both the length of the path, as well as any tags or penalties on the nodes. By default, the cost to move 1 world unit is Int3.Precision.

If the path failed, the cost will be set to zero.

GraphNode endNode

End node of the path.

Vector3 endPoint

End point of the path.

This is the closest point on the endNode to originalEndPoint

bool endPointKnownBeforeCalculation

True if this path type has a well defined end point, even before calculation starts.

This is for example true for the ABPath type, but false for the RandomPath type.

PathEndingCondition endingCondition

Optional ending condition for the path.

The ending condition determines when the path has been completed. Can be used to for example mark a path as complete when it is within a specific distance from the target.

If ending conditions are used that are not centered around the endpoint of the path, then you should also set the heuristic to None to ensure the path is still optimal. The performance impact of setting the heuristic to None is quite large, so you might want to try to run it with the default heuristic to see if the path is good enough for your use case anyway.

If null, no custom ending condition will be used. This means that the path will end when the target node has been reached.

Vector3 originalEndPoint

End Point exactly as in the path request.

Vector3 originalStartPoint

Start Point exactly as in the path request.

GraphNode startNode

Start node of the path.

Vector3 startPoint

Start point of the path.

This is the closest point on the startNode to originalStartPoint

PathCompleteState CompleteState

Current state of the path.

Unity.Profiling.ProfilerMarker MarkerOpenCandidateConnectionsToEnd = new Unity.Profiling.ProfilerMarker("OpenCandidateConnectionsToEnd")

Unity.Profiling.ProfilerMarker MarkerTrace = new Unity.Profiling.ProfilerMarker("Trace")

PathState PipelineState

Returns the state of the path in the pathfinding pipeline.

OnPathDelegate callback

Callback to call when the path is complete.

This is usually sent to the Seeker component which post processes the path and then calls a callback to the script which requested the path

float duration

How long it took to calculate this path in milliseconds.

bool error

If the path failed, this is true.

This typically happens if there's no valid node close enough to the start point of the path, or if there's no node close enough to the target point that is reachable from the start point. The errorLog will have more information about what happened.

string errorLog

Additional info on why a path failed.

Heuristic heuristic

Determines which heuristic to use.

float heuristicScale = 1F

Scale of the heuristic values.

OnPathDelegate immediateCallback

Immediate callback to call when the path is complete.

NearestNodeConstraint nearestNodeConstraint

Constraint for how to search for nodes that are traversable by this path.

This constraint is what the path uses to search for closest nodes to the start and end points.

This is derived from the traversalConstraint and the nearestNodeDistanceMetric.

DistanceMetric nearestNodeDistanceMetric

Distance metric to use when searching for the start and end nodes in the graph.

By default, the euclidean distance metric is used. This allows the path to, for example, find the closest start node to the start point, as measured using "normal" distance. However, you can change this to instead measure distance by ignoring the Y coordinate. This is quite useful for characters, as it will find the node right below the agents feet, even if the agent is slightly above the ground on a slope.

List<GraphNode> path

Holds the path as a GraphNode list.

These are all nodes that the path traversed, as calculated by the pathfinding algorithm. This may not be the same nodes as the post processed path traverses.

ushort pathID

ID of this path.

Used to distinguish between different paths

int searchedNodes

Number of nodes this path has searched.

TraversalConstraint traversalConstraint = TraversalConstraint.None

Constrains which nodes the path can traverse.

By default, all walkable nodes are traversable. But you can modify this to, for example, only allow nodes with a certain tag to be traversed, or supply completely custom rules by using an ITraversalProvider.

TraversalCosts traversalCosts

Specifies the cost of traversing different nodes.

By default, nodes have no special costs associated with them. But you can modify this to, for example, make nodes with a certain tag more expensive to traverse, or supply completely custom rules by using an ITraversalProvider.

List<Vector3> vectorPath

Holds the (possibly post-processed) path as a Vector3 list.

This list may be modified by path modifiers to be smoother or simpler compared to the raw path generated by the pathfinding algorithm.

PathCompleteState completeState

Backing field for CompleteState.

bool hasBeenReset

True if the Reset function has been called.

Used to alert users when they are doing something wrong.

bool hasEndPoint

Determines if a search for an end node should be done.

Set by different path types.

uint partialBestTargetGScore = uint.MaxValue

uint partialBestTargetHScore = uint.MaxValue

uint partialBestTargetPathNodeIndex = GraphNode.InvalidNodeIndex

Current best target for the partial path.

This is the node with the lowest H score.