A* Pathfinding Project
4.1.21
The A* Pathfinding Project for Unity 3D

Handles collision checking for graphs. More...
Handles collision checking for graphs.
Mostly used by grid based graphs
Public Member Functions  
bool  Check (Vector3 position) 
Returns if the position is obstructed. More...  
Vector3  CheckHeight (Vector3 position) 
Returns the position with the correct height. More...  
Vector3  CheckHeight (Vector3 position, out RaycastHit hit, out bool walkable) 
Returns the position with the correct height. More...  
RaycastHit []  CheckHeightAll (Vector3 position, out int numHits) 
Returns all hits when checking height for position. More...  
void  DeserializeSettingsCompatibility (GraphSerializationContext ctx) 
void  Initialize (GraphTransform transform, float scale) 
Sets up several variables using the specified matrix and scale. More...  
Public Attributes  
bool  collisionCheck = true 
Toggle collision check. More...  
float  collisionOffset 
Height above the ground that collision checks should be done. More...  
float  diameter = 1F 
Diameter of capsule or sphere when checking for collision. More...  
float  fromHeight = 100 
The height to check from when checking height ('ray length' in the inspector). More...  
float  height = 2F 
Height of capsule or length of ray when checking for collision. More...  
bool  heightCheck = true 
Toggle height check. More...  
LayerMask  heightMask = 1 
Layers to be included in the height check. More...  
LayerMask  mask 
Layers to be treated as obstacles. More...  
const float  RaycastErrorMargin = 0.005F 
Offset to apply after each raycast to make sure we don't hit the same point again in CheckHeightAll. More...  
RayDirection  rayDirection = RayDirection.Both 
Direction of the ray when checking for collision. More...  
bool  thickRaycast 
Toggles thick raycast. More...  
float  thickRaycastDiameter = 1 
Diameter of the thick raycast in nodes. More...  
ColliderType  type = ColliderType.Capsule 
Collision shape to use. More...  
bool  unwalkableWhenNoGround = true 
Make nodes unwalkable when no ground was found with the height raycast. More...  
Vector3  up 
Direction to use as UP. More...  
bool  use2D 
Use Unity 2D Physics API. More...  
Private Attributes  
float  finalRadius 
diameter * scale * 0.5. More...  
float  finalRaycastRadius 
thickRaycastDiameter * scale * 0.5. More...  
RaycastHit []  hitBuffer = new RaycastHit[8] 
Internal buffer used by CheckHeightAll. More...  
Vector3  upheight 
up * height. More...  
bool Check  (  Vector3  position  ) 
Returns if the position is obstructed.
If collisionCheck is false, this will always return true.
Vector3 CheckHeight  (  Vector3  position  ) 
Returns the position with the correct height.
If heightCheck is false, this will return position.
Vector3 CheckHeight  (  Vector3  position, 
out RaycastHit  hit,  
out bool  walkable  
) 
Returns the position with the correct height.
If heightCheck is false, this will return position.
walkable will be set to false if nothing was hit. The ray will check a tiny bit further than to the grids base to avoid floating point errors when the ground is exactly at the base of the grid
RaycastHit [] CheckHeightAll  (  Vector3  position, 
out int  numHits  
) 
Returns all hits when checking height for position.
The returned array may be larger than the actual number of hits, the numHits out parameter indicates how many hits there actually were.
void DeserializeSettingsCompatibility  (  GraphSerializationContext  ctx  ) 
void Initialize  (  GraphTransform  transform, 
float  scale  
) 
Sets up several variables using the specified matrix and scale.
bool collisionCheck = true 
Toggle collision check.
float collisionOffset 
Height above the ground that collision checks should be done.
For example, if the ground was found at y=0, collisionOffset = 2 type = Capsule and height = 3 then the physics system will be queried to see if there are any colliders in a capsule for which the bottom sphere that is made up of is centered at y=2 and the top sphere has its center at y=2+3=5.
If type = Sphere then the sphere's center would be at y=2 in this case.
float diameter = 1F 
Diameter of capsule or sphere when checking for collision.
When checking for collisions the system will check if any colliders overlap a specific shape at the node's position. The shape is determined by the type field.
A diameter of 1 means that the shape has a diameter equal to the node's width, or in other words it is equal to nodeSize .
If type is set to Ray, this does not affect anything.

private 

private 
float fromHeight = 100 
The height to check from when checking height ('ray length' in the inspector).
As the image below visualizes, different ray lengths can make the ray hit different things. The distance is measured up from the graph plane.
float height = 2F 
Height of capsule or length of ray when checking for collision.
If type is set to Sphere, this does not affect anything.
bool heightCheck = true 
Toggle height check.
If false, the grid will be flat
LayerMask heightMask = 1 
Layers to be included in the height check.

private 
Internal buffer used by CheckHeightAll.
LayerMask mask 
Layers to be treated as obstacles.
const float RaycastErrorMargin = 0.005F 
Offset to apply after each raycast to make sure we don't hit the same point again in CheckHeightAll.
RayDirection rayDirection = RayDirection.Both 
Direction of the ray when checking for collision.
If type is not Ray, this does not affect anything
bool thickRaycast 
Toggles thick raycast.
float thickRaycastDiameter = 1 
Diameter of the thick raycast in nodes.
1 equals nodeSize
ColliderType type = ColliderType.Capsule 
Collision shape to use.
bool unwalkableWhenNoGround = true 
Make nodes unwalkable when no ground was found with the height raycast.
If height raycast is turned off, this doesn't affect anything.
Vector3 up 
Direction to use as UP.

private 
bool use2D 
Use Unity 2D Physics API.