TriangleMeshNode Class Reference

Node represented by a triangle. More...

Detailed Description

Node represented by a triangle.

Public Member Functions
	TriangleMeshNode (AstarPath astar)
override Vector3	ClosestPointOnNode (Vector3 p)
override Vector3	ClosestPointOnNodeXZ (Vector3 p)
override bool	ContainsPoint (Vector3 p)
	Checks if point is inside the node.
override bool	ContainsPointInGraphSpace (Int3 p)
	Checks if point is inside the node in graph space.
override void	DeserializeNode (GraphSerializationContext ctx)
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)
int	GetVertexArrayIndex (int i)
	Return a number specifying an index in the source vertex array.
override int	GetVertexCount ()
int	GetVertexIndex (int i)
	Return a number identifying a vertex.
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.
void	GetVerticesInGraphSpace (out Int3 v0, out Int3 v1, out Int3 v2)
	Returns all 3 vertices of this node in graph space.
override void	Open (Path path, PathNode pathNode, PathHandler handler)
	Open the node.
override Vector3	RandomPointOnSurface ()
	A random point on the surface of the node.
override void	SerializeNode (GraphSerializationContext ctx)
int	SharedEdge (GraphNode other)
	Returns the edge which is shared with other.
override float	SurfaceArea ()
void	UpdatePositionFromVertices ()
	Set the position of this node to the average of its 3 vertices.
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.
void	AddConnection (GraphNode node, uint cost, int shapeEdge)
	Add a connection from this node to the specified node.
override void	ClearConnections (bool alsoReverse)
	Remove all connections from this node.
override bool	ContainsConnection (GraphNode node)
	Checks if this node has a connection to the specified node.
virtual bool	ContainsPoint (Int3 point)
	Checks if point is inside the node.
override void	DeserializeReferences (GraphSerializationContext ctx)
	Used to deserialize references to other nodes e.g connections.
override void	FloodFill (Stack< GraphNode > stack, uint region)
override void	GetConnections (System.Action< GraphNode > action)
	Calls the delegate with all connections from this node.
override int	GetGizmoHashCode ()
	Hash code used for checking if the gizmos need to be updated.
override void	RemoveConnection (GraphNode node)
	Removes any connection from this node to the specified node.
override void	SerializeReferences (GraphSerializationContext ctx)
	Used to serialize references to other nodes e.g connections.
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.
virtual void	RecalculateConnectionCosts ()
	Recalculates all connection costs from this node.
void	UpdateG (Path path, PathNode pathNode)

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.

Public Attributes
int	v0
	Internal vertex index for the first vertex.
int	v1
	Internal vertex index for the second vertex.
int	v2
	Internal vertex index for the third vertex.
Public Attributes inherited from MeshNode
Connection[]	connections
	All connections from this node.
Public Attributes inherited from GraphNode
const uint	MaxAreaIndex = FlagsAreaMask >> FlagsAreaOffset
const uint	MaxGraphIndex = FlagsGraphMask >> FlagsGraphOffset
	Max number of graphs-1.
Int3	position
	Position of the node in world space.

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

Additional Inherited Members
Protected Member Functions inherited from MeshNode
	MeshNode (AstarPath astar)
Protected Attributes inherited from GraphNode
uint	flags
	Bitpacked field holding several pieces of data.
Package Functions inherited from GraphNode
void	Destroy ()
	Destroys the node.
Properties inherited from GraphNode
uint	Area [get, set]
	Connected component that contains the node.
bool	Destroyed [get]
uint	Flags [get, set]
	Holds various bitpacked variables.
uint	GraphIndex [get, set]
	Graph which contains this node.
int	NodeIndex [get]
	Internal unique index.
uint	Penalty [get, set]
	Penalty cost for walking on this node.
uint	Tag [get, set]
	Node tag.
bool	Walkable [get, set]
	True if the node is traversable.

Constructor & Destructor Documentation

TriangleMeshNode

(

AstarPath

astar

)

Member Function Documentation

override Vector3 ClosestPointOnNode ( Vector3  p )

virtual

Implements MeshNode.

override Vector3 ClosestPointOnNodeXZ ( Vector3  p )

virtual

Implements MeshNode.

override bool ContainsPoint ( Vector3  point )

virtual

Checks if point is inside the node.

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.

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.

override void DeserializeNode ( GraphSerializationContext  ctx )

virtual

Reimplemented from GraphNode.

static INavmeshHolder GetNavmeshHolder ( uint  graphIndex )

static

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 )

virtual

Implements MeshNode.

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.

override int GetVertexCount ( )

virtual

Implements MeshNode.

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.

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.

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

Returns all 3 vertices of this node in graph space.

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

virtual

Open the node.

Implements GraphNode.

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.

override void SerializeNode ( GraphSerializationContext  ctx )

virtual

Reimplemented from GraphNode.

static void SetNavmeshHolder ( int  graphIndex, INavmeshHolder  graph  )

static

Sets the internal navmesh holder for a given graph index.

Warning

Internal method

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

override float SurfaceArea ( )

virtual

Todo:

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

Reimplemented from GraphNode.

void UpdatePositionFromVertices

(

)

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

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

virtual

Reimplemented from MeshNode.

Member Data Documentation

INavmeshHolder [] _navmeshHolders = new INavmeshHolder[0]

staticprotected

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

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

staticprotected

Used for synchronised access to the _navmeshHolders array.

int v0

Internal vertex index for the first vertex.

int v1

Internal vertex index for the second vertex.

int v2

Internal vertex index for the third vertex.

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

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