Advanced AI for navmesh based graphs. More...

Detailed Description

Advanced AI for navmesh based graphs.

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Public Member Functions
override void	OnPathComplete (Path p)
	Called when a requested path has been calculated.

override void	SearchPath ()
	Recalculate the current path.

override void	Teleport (Vector3 newPosition, bool clearPath=true)
	Instantly move the agent to a new position.

void	UpdatePath ()
	Force recalculation of the current path.

Public Member Functions inherited from AIBase
virtual Vector3	GetFeetPosition ()
	Position of the base of the character.

void	MovementUpdate (float deltaTime, bool useGravity)
	Calculate all movement for a single movement step and move the character.

Public Member Functions inherited from IAstarAI
void	MovementUpdate (float deltaTime, bool useGravity)
	Calculate all movement for a single movement step and move the agent.

void	SearchPath ()
	Recalculate the current path.

void	Teleport (Vector3 newPosition, bool clearPath=true)
	Instantly move the agent to a new position.

Public Member Functions inherited from IAstarAIMovement
Vector3	ClampToNavmesh (Vector3 position, out bool positionChanged)
	Clamps the agent's position to the navmesh.

void	Move (Vector3 position, Vector3 deltaPosition)
	Move the agent.

void	RotateTowards (Vector3 direction, float maxDegrees)
	Rotates towards the specified direction.

void	UpdateVelocity (Vector3 position)
	To be called after all movement is done with the position of the agent.

Public Attributes
float	acceleration = 5
	Max acceleration of the agent.

float	endReachedDistance = 0.01f
	Max distance to the endpoint to consider it reached.

bool	funnelSimplification = false
	Use funnel simplification.

System.Func< RichSpecial, IEnumerator >	onTraverseOffMeshLink
	Called when the agent starts to traverse an off-mesh link.

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.

float	wallDist = 1
	Walls within this range will be used for avoidance.

float	wallForce = 3
	Force to avoid walls with.

Public Attributes inherited from AIBase
bool	canMove = true
	Enables or disables movement completely.

bool	canSearch = true
	Enables or disables recalculating the path at regular intervals.

float	centerOffset = 1
	Offset along the Y coordinate for the ground raycast start position.

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 in world units per second.

IMovementPlane	movementPlane = GraphTransform.identityTransform
	Plane which this agent is moving in.

float	repathRate = 0.5f
	Determines how often the agent will search for new paths (in seconds).

bool	rotationIn2D = false
	If true, the forward axis of the character will be along the Y axis instead of the Z axis.

bool	updatePosition = true
	Determines if the character should move or if just the desired velocities should be calculated.

bool	updateRotation = true
	Determines if the character should rotate automatically.

Protected Member Functions
override Vector3	ClampToNavmesh (Vector3 position, out bool positionChanged)
	Constrains the character's position to lie on the navmesh.

override void	MovementUpdateInternal (float deltaTime)
	Called during either Update or FixedUpdate depending on if rigidbodies are used for movement or not.

void	NextPart ()
	Declare that the AI has completely traversed the current part.

override void	OnDisable ()
	Called when the component is disabled.

override void	OnDrawGizmos ()

virtual void	OnTargetReached ()
	Called when the end of the path is reached.

override int	OnUpgradeSerializedData (int version, bool unityThread)
	Handle serialization backwards compatibility.

IEnumerator	TraverseOffMeshLinkFallback (RichSpecial link)
	Fallback for traversing off-mesh links in case onTraverseOffMeshLink is not set.

virtual IEnumerator	TraverseSpecial (RichSpecial link)
	Traverses an off-mesh link.

virtual Vector3	UpdateTarget (RichFunnel fn)

Protected Member Functions inherited from AIBase
	AIBase ()

void	ApplyGravity (float deltaTime)
	Accelerates the agent downwards.

override void	Awake ()
	Initializes reference variables.

Vector2	CalculateDeltaToMoveThisFrame (Vector2 position, float distanceToEndOfPath, float deltaTime)
	Calculates how far to move during a single frame.

virtual void	CalculatePathRequestEndpoints (out Vector3 start, out Vector3 end)
	Outputs the start point and end point of the next automatic path request.

void	CancelCurrentPathRequest ()

virtual void	FixedUpdate ()
	Called every physics update.

virtual void	OnEnable ()
	Called when the component is enabled.

Vector3	RaycastPosition (Vector3 position, float lastElevation)
	Checks if the character is grounded and prevents ground penetration.

IEnumerator	RepeatTrySearchPath ()
	Tries to search for a path every repathRate seconds.

virtual void	RotateTowards (Vector2 direction, float maxDegrees)
	Rotates towards the specified direction.

virtual void	Start ()
	Starts searching for paths.

virtual void	Update ()
	Called every frame.

void	UpdateVelocity (Vector3 position)

Protected Attributes
bool	delayUpdatePath

float	distanceToSteeringTarget = float.PositiveInfinity
	Distance to steeringTarget in the movement plane.

bool	lastCorner

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

readonly RichPath	richPath = new RichPath()
	Holds the current path that this agent is following.

bool	traversingSpecialPath

readonly List< Vector3 >	wallBuffer = new List<Vector3>()

Protected Attributes inherited from AIBase
CharacterController	controller
	Cached CharacterController component.

Vector3	lastDeltaPosition
	Amount which the character wants or tried to move with during the last frame.

float	lastDeltaTime
	Delta time used for movement during the last frame.

float	lastRepath = float.NegativeInfinity
	Time when the last path request was started.

Vector3	prevPosition1
	Position of the character at the end of the last frame.

Vector3	prevPosition2
	Position of the character at the end of the frame before the last frame.

Rigidbody	rigid
	Cached Rigidbody component.

Rigidbody2D	rigid2D
	Cached Rigidbody component.

RVOController	rvoController
	Cached RVOController component.

Seeker	seeker
	Cached Seeker component.

Transform	tr
	Cached Transform component.

Vector2	velocity2D
	Current desired velocity of the agent (does not include local avoidance and physics).

float	verticalVelocity
	Velocity due to gravity.

bool	waitingForPathCalculation = false
	Only when the previous path has been calculated should the script consider searching for a new path.

Static Protected Attributes
static readonly Color	GizmoColorPath = new Color(8.0f/255, 78.0f/255, 194.0f/255)

Static Protected Attributes inherited from AIBase
static readonly Color	GizmoColorRaycast = new Color(118.0f/255, 206.0f/255, 112.0f/255)

Properties
Animation	anim `[get, set]`
	Anim for off-mesh links.

bool	ApproachingPartEndpoint `[get]`

bool	approachingPartEndpoint `[get]`
	True if approaching the last waypoint in the current part of the path.

bool	ApproachingPathEndpoint `[get]`

bool	approachingPathEndpoint `[get]`
	True if approaching the last waypoint of all parts in the current path.

bool IAstarAI.	canMove `[get, set]`
	Enables or disables movement completely.

bool IAstarAI.	canSearch `[get, set]`
	Enables or disables recalculating the path at regular intervals.

float	DistanceToNextWaypoint `[get]`

bool	hasPath `[get]`
	True if this agent currently has a path that it follows.

float IAstarAI.	maxSpeed `[get, set]`
	Max speed in world units per second.

Vector3	NextWaypoint `[get]`
	Waypoint that the agent is moving towards.

bool	PathPending `[get]`
	True if a path to the target is currently being calculated.

bool	pathPending `[get]`
	True if a path is currently being calculated.

Vector3 IAstarAI.	position `[get]`
	Position of the agent.

float	remainingDistance `[get]`
	Remaining distance along the current path to the destination.

bool	repeatedlySearchPaths `[get, set]`
	Search for new paths repeatedly.

override bool	shouldRecalculatePath `[get]`

Vector3	steeringTarget `[get, set]`
	Point on the path which the agent is currently moving towards.

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	targetReached `[get]`
	True if the agent has reached the end of the current path.

bool	TraversingSpecial `[get]`

Vector3	Velocity `[get]`
	Current velocity of the agent.

Properties inherited from AIBase
Vector3	desiredVelocity `[get]`
	Velocity that this agent wants to move with.

Vector3	destination `[get, set]`
	Position in the world that this agent should move to.

bool	isStopped `[get, set]`
	Gets or sets if the agent should stop moving.

System.Action	onSearchPath `[get, set]`

virtual bool	shouldRecalculatePath `[get]`
	True if the path should be automatically recalculated as soon as possible.

Transform	target `[get, set]`
	Target to move towards.

bool	usingGravity `[get, set]`
	Indicates if gravity is used during this frame.

Vector3	velocity `[get]`
	Actual velocity that the agent is moving with.

Properties inherited from IAstarAI
bool	canMove `[get, set]`
	Enables or disables movement completely.

bool	canSearch `[get, set]`
	Enables or disables recalculating the path at regular intervals.

Vector3	desiredVelocity `[get]`
	Velocity that this agent wants to move with.

Vector3	destination `[get, set]`
	Position in the world that this agent should move to.

bool	hasPath `[get]`
	True if this agent currently has a path that it follows.

bool	isStopped `[get, set]`
	Gets or sets if the agent should stop moving.

float	maxSpeed `[get, set]`
	Max speed in world units per second.

System.Action	onSearchPath `[get, set]`
	Called when the agent recalculates its path.

bool	pathPending `[get]`
	True if a path is currently being calculated.

Vector3	position `[get]`
	Position of the agent.

float	remainingDistance `[get]`
	Remaining distance along the current path to the destination.

Vector3	steeringTarget `[get]`
	Point on the path which the agent is currently moving towards.

bool	targetReached `[get]`
	True if the agent has reached the end of the current path.

Vector3	velocity `[get]`
	Actual velocity that the agent is moving with.

Private Member Functions
Vector2	CalculateWallForce (Vector2 position, float elevation, Vector2 directionToTarget)

Vector3 IAstarAIMovement.	ClampToNavmesh (Vector3 position, out bool positionChanged)
	Clamps the agent's position to the navmesh.

void	FinalMovement (Vector3 position3D, float deltaTime, float distanceToEndOfPath, float slowdownFactor)

void IAstarAIMovement.	Move (Vector3 position, Vector3 deltaPosition)
	Move the agent.

void IAstarAIMovement.	RotateTowards (Vector3 direction, float maxDegrees)
	Rotates towards the specified direction.

void	TraverseFunnel (RichFunnel fn, float deltaTime)

void IAstarAIMovement.	UpdateVelocity (Vector3 position)
	To be called after all movement is done with the position of the agent.

Private Attributes
Animation	animCompatibility

Member Function Documentation

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

private

override Vector3 ClampToNavmesh	(	Vector3	position,
		out bool	positionChanged
	)

protectedvirtual

Constrains the character's position to lie on the navmesh.

Not all movement scripts have support for this.

Parameters

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 from AIBase.

Vector3 IAstarAIMovement. ClampToNavmesh	(	Vector3	position,
		out bool	positionChanged
	)

privatevirtual

Clamps the agent's position to the navmesh.

Parameters

position	Position of the agent.
positionChanged	True if the agent's position had to be modified.

Returns: New position of the agent that has been clamped to the navmesh.

Note: This will not update the position of the agent's Transform component. It is assumed that the caller will do that later.

Reimplemented from AIBase.

void FinalMovement	(	Vector3	position3D,
		float	deltaTime,
		float	distanceToEndOfPath,
		float	slowdownFactor
	)

private

void IAstarAIMovement. Move	(	Vector3	position,
		Vector3	deltaPosition
	)

privatevirtual

Move the agent.

Parameters

position	Position of the agent.
deltaPosition	Direction and distance to move the agent in world space.

Reimplemented from AIBase.

override void MovementUpdateInternal ( float deltaTime )

protectedvirtual

Called during either Update or FixedUpdate depending on if rigidbodies are used for movement or not.

Implements AIBase.

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

override void OnDisable ( )

protectedvirtual

Called when the component is disabled.

Reimplemented from AIBase.

override void OnDrawGizmos ( )

protectedvirtual

Reimplemented from AIBase.

override void OnPathComplete ( Path newPath )

virtual

Called when a requested path has been calculated.

Implements AIBase.

virtual void OnTargetReached ( )

protectedvirtual

Called when the end of the path is reached.

override int OnUpgradeSerializedData	(	int	version,
		bool	unityThread
	)

protectedvirtual

Handle serialization backwards compatibility.

Reimplemented from AIBase.

void IAstarAIMovement. RotateTowards	(	Vector3	direction,
		float	maxDegrees
	)

private

Rotates towards the specified direction.

Parameters

direction	Direction rotate towards.
maxDegrees	Maximum number of degrees to rotate this frame.

override void SearchPath ( )

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 from AIBase.

override void Teleport	(	Vector3	newPosition,
		bool	clearPath = `true`
	)

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.; SearchPath

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.

Reimplemented from AIBase.

void TraverseFunnel	(	RichFunnel	fn,
		float	deltaTime
	)

private

IEnumerator TraverseOffMeshLinkFallback ( RichSpecial link )

protected

Fallback for traversing off-mesh links in case onTraverseOffMeshLink is not set.

This will do a simple linear interpolation along the link.

virtual IEnumerator TraverseSpecial ( RichSpecial link )

protectedvirtual

Traverses an off-mesh link.

void UpdatePath ( )

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).

Deprecated:: Use SearchPath instead

virtual Vector3 UpdateTarget ( RichFunnel fn )

protectedvirtual

void IAstarAIMovement. UpdateVelocity ( Vector3 position )

private

To be called after all movement is done with the position of the agent.

Parameters

position Current position of the agent (as a parameter mostly for performance reasons as reading from transform.position can be slow).

You have to call this if you are handling movement manually to make sure e.g the velocity field is up to date.This is automatically called by the Move method, so if you are using that method this should not be called.

Member Data Documentation

float acceleration = 5

Max acceleration of the agent.

In world units per second per second.

Animation animCompatibility

private

bool delayUpdatePath

protected

float distanceToSteeringTarget = float.PositiveInfinity

protected

Distance to steeringTarget in the movement plane.

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.

The RichAI script uses its own internal funnel algorithm, so you never need to attach the FunnelModifier component.

See Also: Pathfinding.FunnelModifier

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

staticprotected

bool lastCorner

protected

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

protected

System.Func<RichSpecial, IEnumerator> onTraverseOffMeshLink

Called when the agent starts to traverse an off-mesh link.

Register to this callback to handle off-mesh links in a custom way.

If this event is set to null then the agent will fall back to traversing off-mesh links using a very simple linear interpolation.

    void OnEnable () {
        ai = GetComponent<RichAI>();
        if (ai != null) ai.onTraverseOffMeshLink += TraverseOffMeshLink;
    }
    void OnDisable () {
        if (ai != null) ai.onTraverseOffMeshLink -= TraverseOffMeshLink;
    }
    IEnumerator TraverseOffMeshLink (RichSpecial link) {
        // Traverse the link over 1 second
        float startTime = Time.time;
        while (Time.time < startTime + 1) {
            transform.position = Vector3.Lerp(link.first.position, link.second.position, Time.time - startTime);
            yield return null;
        }
        transform.position = link.second.position;
    }

readonly RichPath richPath = new RichPath()

protected

Holds the current path that this agent is following.

float rotationSpeed = 360

Max rotation speed of the agent.

In degrees per second.

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.

Note: The agent may require more time to slow down if its maximum acceleration is not high enough.

If set to zero the agent will not even attempt to slow down. This can be useful if the target point is not a point you want the agent to stop at but it might for example be the player and you want the AI to slam into the player.

Note: A value of zero will behave differently from a small but non-zero value (such as 0.0001). When it is non-zero the agent will still respect its acceleration when determining if it needs to slow down, but if it is zero it will disable that check. This is useful if the destination is not a point where you want the agent to stop.

bool slowWhenNotFacingTarget = true

Slow down when not facing the target direction.

Incurs at a small performance overhead.

bool traversingSpecialPath

protected

readonly 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

Property Documentation

Animation anim

getset

Anim for off-mesh links.

Deprecated:: Use the onTraverseOffMeshLink event or the ... component instead. Setting this value will add a ... component

bool ApproachingPartEndpoint

get

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

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

bool IAstarAI. canMove

getsetprivate

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.

See Also: canSearch; isStopped

bool IAstarAI. canSearch

getsetprivate

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; isStopped

float DistanceToNextWaypoint

get

bool hasPath

get

True if this agent currently has a path that it follows.

float IAstarAI. maxSpeed

getsetprivate

Max speed in world units per second.

Vector3 NextWaypoint

get

Waypoint that the agent is moving towards.

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

bool PathPending

get

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

bool pathPending

get

True if a path is currently being calculated.

Vector3 IAstarAI. position

getprivate

Position of the agent.

In world space.

See Also: Teleport

float remainingDistance

get

Remaining distance along the current path to the destination.

For the RichAI movement script this may not always be precisely known, especially when far away from the destination. In those cases an approximate distance will be returned.If the agent does not currently have a path, then positive infinity will be returned.

bool repeatedlySearchPaths

getset

Search for new paths repeatedly.

override bool shouldRecalculatePath

getprotected

Vector3 steeringTarget

getset

Point on the path which the agent is currently moving towards.

This is usually a point a small distance ahead of the agent or the end of the path.If the agent does not have a path at the moment, then the agent's current position will be returned.

Vector3 TargetPoint

get

Current waypoint that the agent is moving towards.

Deprecated:: This property has been renamed to steeringTarget

bool TargetReached

get

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

bool targetReached

get

True if the agent has reached the end of the current path.

bool TraversingSpecial

get

Vector3 Velocity

get

Current velocity of the agent.

Includes velocity due to gravity.

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

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

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Properties

Private Member Functions

Private Attributes

Member Function Documentation

Member Data Documentation

Property Documentation