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
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Public Member Functions
void	Teleport (Vector3 newPosition)
	Instantly moves the agent to the target position.
virtual void	UpdatePath ()
	Force recalculation of the current path.

Public Attributes
float	acceleration = 5
	Max acceleration of the agent.
Animation	anim
float	centerOffset = 1
	Offset along the Y coordinate for the ground raycast start position.
float	endReachedDistance = 0.01f
	Max distance to the endpoint to consider it reached.
bool	funnelSimplification = false
	Use funnel simplification.
Vector3	gravity = new Vector3(float.NaN, float.NaN, float.NaN)
	Gravity to use.
LayerMask	groundMask = -1
	Layer mask to use for ground placement.
float	maxSpeed = 1
	Max speed of the agent.
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 long before reaching the end of the path to start to slow down.
bool	slowWhenNotFacingTarget = true
	Slow down when not facing the target direction.
Transform	target
	Target position to move to.
float	wallDist = 1
	Walls within this range will be used for avoidance.
float	wallForce = 3
	Force to avoid walls with.

Protected Member Functions
override void	Awake ()
void	CancelCurrentPathRequest ()
void	NextPart ()
	Declare that the AI has completely traversed the current part.
virtual void	OnDisable ()
	Called when the component is disabled.
virtual void	OnDrawGizmos ()
virtual void	OnEnable ()
	Called when the component is enabled.
virtual void	OnTargetReached ()
	Called when the end of the path is reached.
virtual void	Start ()
	Starts searching for paths.
virtual IEnumerator	TraverseSpecial (RichSpecial rs)
virtual void	Update ()
	Update is called once per frame.
virtual Vector3	UpdateTarget (RichFunnel fn)
Protected Member Functions inherited from VersionedMonoBehaviour
virtual int	OnUpgradeSerializedData (int version)
	Handle serialization backwards compatibility.

Protected Attributes
bool	canSearchPath
CharacterController	controller
	Cached CharacterController component.
bool	delayUpdatePath
float	distanceToWaypoint = float.PositiveInfinity
bool	lastCorner
float	lastRepath = float.NegativeInfinity
IMovementPlane	movementPlane = GraphTransform.identityTransform
List< Vector3 >	nextCorners = new List<Vector3>()
Vector3	prevPosition
	Position of the agent at the end of the previous frame.
Vector3	realVelocity
	Current velocity of the agent.
readonly RichPath	rp = new RichPath()
	Holds the current path that this agent is following.
RVOController	rvoController
	Cached RVOController component.
Seeker	seeker
	Cached Seeker component.
Transform	tr
	Cached Transform component.
bool	traversingSpecialPath
bool	waitingForPathCalc
List< Vector3 >	wallBuffer = new List<Vector3>()

Static Protected 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)

Properties
bool	ApproachingPartEndpoint [get]
	True if approaching the last waypoint in the current part of the 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	NextWaypoint [get]
	Waypoint that the agent is moving towards.
bool	PathPending [get]
	True if a path to the target is currently being calculated.
Vector3	TargetPoint [get]
	Current waypoint that the agent is moving towards.
bool	TargetReached [get]
	True if the agent is within endReachedDistance units from the end of the current path.
bool	TraversingSpecial [get]
Vector3	Velocity [get]
	Current velocity of the agent.

Private Member Functions
Vector2	CalculateDeltaToMoveThisFrame (Vector2 position, float distanceToEndOfPath)
Vector2	CalculateWallForce (Vector2 position, float elevation, Vector2 directionToTarget)
void	Init ()
void	Move (Vector2 position, float elevation, Vector2 deltaPosition, float deltaElevation, RichFunnel fn)
void	OnPathComplete (Path p)
Vector3	RaycastPosition (Vector2 position, float elevation, float lastElevation)
	Find the world position of the ground below the character.
void	RotateTowards (Vector2 direction, float degreesPerSecond)
	Rotates along the Y-axis so that the transform's forward direction points in the direction direction.
IEnumerator	SearchPaths ()
	Searches for paths periodically.
void	TraverseFunnel (RichFunnel fn)

Static Private Member Functions
static void	PlotTrajectory (Vector2 origin, Vector2 v, Vector2 a, Vector2 q, float tmax)

Private Attributes
bool	startHasRun
Vector2	velocity
	Current desired velocity of the agent.
float	verticalVelocity
	Velocity due to gravity.
Vector3	waypoint

Static Private Attributes
static float	deltaTime
	Delta time to use for the current frame.

Member Function Documentation

override void Awake ( )

protectedvirtual

Reimplemented from VersionedMonoBehaviour.

Reimplemented in LegacyRichAI.

Vector2 CalculateDeltaToMoveThisFrame ( Vector2  position, float  distanceToEndOfPath  )

private

Vector2 CalculateWallForce ( Vector2  position, float  elevation, Vector2  directionToTarget  )

private

void CancelCurrentPathRequest ( )

protected

void Init ( )

private

void Move ( Vector2  position, float  elevation, Vector2  deltaPosition, float  deltaElevation, RichFunnel  fn  )

private

void NextPart ( )

protected

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

virtual void OnDisable ( )

protectedvirtual

Called when the component is disabled.

virtual void OnDrawGizmos ( )

protectedvirtual

virtual void OnEnable ( )

protectedvirtual

Called when the component is enabled.

void OnPathComplete ( Path  p )

private

virtual void OnTargetReached ( )

protectedvirtual

Called when the end of the path is reached.

static void PlotTrajectory ( Vector2  origin, Vector2  v, Vector2  a, Vector2  q, float  tmax  )

staticprivate

Vector3 RaycastPosition ( Vector2  position, float  elevation, float  lastElevation  )

private

Find the world position of the ground below the character.

void RotateTowards ( Vector2  direction, float  degreesPerSecond  )

private

Rotates along the Y-axis so that the transform's forward direction points in the direction direction.

IEnumerator SearchPaths ( )

private

Searches for paths periodically.

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

Reimplemented in LocalSpaceRichAI.

void Teleport

(

Vector3

newPosition

)

Instantly moves the agent to the target position.

When setting transform.position directly the agent will be clamped to the part of the navmesh it can reach, so it may not end up where you wanted it to. This ensures that the agent can move to any part of the navmesh.

The current path will be cleared.

See Also

Works similarly to Unity's NavmeshAgent.Warp.

void TraverseFunnel ( RichFunnel  fn )

private

virtual IEnumerator TraverseSpecial ( RichSpecial  rs )

protectedvirtual

Reimplemented in LegacyRichAI.

virtual void Update ( )

protectedvirtual

Update is called once per frame.

Reimplemented in LocalSpaceRichAI, and LegacyRichAI.

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).

See Also

Seeker.IsDone

Reimplemented in LocalSpaceRichAI.

virtual Vector3 UpdateTarget ( RichFunnel  fn )

protectedvirtual

Member Data Documentation

float acceleration = 5

Max acceleration of the agent.

In world units per second per second.

Animation anim

bool canSearchPath

protected

float centerOffset = 1

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

raycastingForGroundPlacement

CharacterController controller

protected

Cached CharacterController component.

bool delayUpdatePath

protected

float deltaTime

staticprivate

Delta time to use for the current frame.

float distanceToWaypoint = float.PositiveInfinity

protected

float endReachedDistance = 0.01f

Max distance to the endpoint to consider it reached.

In seconds.

See Also

TargetReached

OnTargetReached

bool funnelSimplification = false

Use 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 to make the paths straighter.

This has a moderate performance impact during frames when a path calculation is completed.

readonly Color GizmoColorPath = new Color(8.0f/255, 78.0f/255, 194.0f/255)

staticprotected

readonly Color GizmoColorRaycast = new Color(118.0f/255, 206.0f/255, 112.0f/255)

staticprotected

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.

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.

See Also

raycastingForGroundPlacement

https://docs.unity3d.com/Manual/Layers.html

bool lastCorner

protected

float lastRepath = float.NegativeInfinity

protected

float maxSpeed = 1

Max speed of the agent.

In world units per second.

IMovementPlane movementPlane = GraphTransform.identityTransform

protected

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

protected

Vector3 prevPosition

protected

Position of the agent at the end of the previous frame.

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.

This field will only show up in the inspector if no CharacterController is attached to the same GameObject.

Vector3 realVelocity

protected

Current velocity of the agent.

float repathRate = 0.5f

Delay (seconds) between path searches.

The agent will plan a new path to the target every N seconds.

See Also

SearchPaths

bool repeatedlySearchPaths = false

Search for new paths repeatedly.

See Also

repathRate

SearchPaths

float rotationSpeed = 360

Max rotation speed of the agent.

In degrees per second.

readonly RichPath rp = new RichPath()

protected

Holds the current path that this agent is following.

RVOController rvoController

protected

Cached RVOController component.

Seeker seeker

protected

Cached Seeker component.

float slowdownTime = 0.5f

How long before reaching the end of the path to start to slow down.

A lower value will make the agent stop more abruptly.

bool slowWhenNotFacingTarget = true

Slow down when not facing the target direction.

Incurs at a small performance overhead.

bool startHasRun

private

Transform target

Target position to move to.

Transform tr

protected

Cached Transform component.

bool traversingSpecialPath

protected

Vector2 velocity

private

Current desired velocity of the agent.

float verticalVelocity

private

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

See Also

wallForce

float wallForce = 3

Force to avoid walls with.

The agent will try to steer away from walls slightly.

See Also

wallDist

Vector3 waypoint

private

Property Documentation

bool ApproachingPartEndpoint

get

True if approaching the last waypoint in the current part of the path.

Path parts are separated by off-mesh links.

See Also

ApproachingPathEndpoint

bool ApproachingPathEndpoint

get

True if approaching the last waypoint of all parts in the current path.

Path parts are separated by off-mesh links.

See Also

ApproachingPartEndpoint

float DistanceToNextWaypoint

get

Distance to the next waypoint.

See Also

NextWaypoint

Vector3 NextWaypoint

get

Waypoint that the agent is moving towards.

This is either a corner in the path or the end of the path.

See Also

DistanceToNextWaypoint

bool PathPending

get

True if a path to the target is currently being calculated.

Vector3 TargetPoint

get

Current waypoint that the agent is moving towards.

Deprecated:

This property has been renamed to NextWaypoint

bool TargetReached

get

True if the agent is within endReachedDistance units from the end of the current path.

Note that if the target was just changed, a new path may not be calculated immediately and thus this value will correspond to if the previous target had been reached.

To be sure if a character has reached a particular target you can make sure to call UpdatePath when you change the target position and then check for !PathPending && TargetReached. The PathPending property indicates if the new path has been calculated yet.

bool TraversingSpecial

get

Vector3 Velocity

get

Current velocity of the agent.

Includes velocity due to gravity.

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

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