Pathfinding Namespace Reference

Namespaces
namespace	Examples
namespace	Legacy
namespace	Recast
namespace	RVO
	Local avoidance related classes.
namespace	Serialization
namespace	Util
namespace	Voxels
namespace	WindowsStore

Classes
class	ABPath
	Basic path, finds the shortest path from A to B. More...
class	ABPathEndingCondition
	Ending condition which emulates the default one for the ABPath. More...
class	AdvancedSmooth
	Smoothing by dividing path into turns and straight segments. More...
class	AIBase
	Base class for AIPath and RichAI. More...
class	AIDestinationSetter
	Sets the destination of an AI to the position of a specified object. More...
class	AILerp
	Linearly interpolating movement script. More...
class	AILerpEditor
class	AIPath
	AI for following paths. More...
class	AlternativePath
	Applies penalty to the paths it processes telling other units to avoid choosing the same path. More...
class	AnimationLink
class	AnimationLinkEditor
class	AstarColor
	Stores editor colors. More...
class	AstarData
	Stores the navigation graphs for the A* Pathfinding System. More...
class	AstarDebugger
	Debugger for the A* Pathfinding Project. More...
class	AstarMath
	Utility functions for working with numbers and strings. More...
class	AstarPathEditor
class	AstarProfiler
class	AstarSplines
	Contains various spline functions. More...
class	AstarUpdateChecker
	Handles update checking for the A* Pathfinding Project. More...
class	AstarUpdateWindow
struct	AstarWorkItem
	An item of work that can be executed when graphs are safe to update. More...
class	BaseAIEditor
class	BBTree
	Axis Aligned Bounding Box Tree. More...
class	BinaryHeap
	Binary heap implementation. More...
class	BlockManager
	Manager for blocker scripts such as SingleNodeBlocker. More...
struct	Connection
	Represents a connection to another node. More...
class	ConstantPath
	Finds all nodes within a specified distance from the start. More...
class	CustomGraphEditorAttribute
	Added to editors of custom graph types. More...
class	CustomPath
class	DebugUtility
	Helper for drawing debug information for the recast graph. More...
class	DefaultITraversalProvider
	Convenience class to access the default implementation of the ITraversalProvider. More...
class	DynamicGridObstacle
	Attach this script to any obstacle with a collider to enable dynamic updates of the graphs around it. More...
class	EditorBase
	Helper for creating editors. More...
class	EditorGUILayoutx
	Handles fading effects and also some custom GUI functions such as LayerMaskField. More...
class	EndingConditionDistance
	Target is found when the path is longer than a specified value. More...
class	EndingConditionProximity
	Ending condition which stops a fixed distance from the target point. More...
class	EnumFlagAttribute
class	EnumFlagDrawer
class	EuclideanEmbedding
	Implements heuristic optimizations. More...
class	FadeArea
	Editor helper for hiding and showing a group of GUI elements. More...
class	FleePath
	Returns a path heading away from a specified point to avoid. More...
class	FloodPath
	Floods the area completely for easy computation of any path to a single point. More...
class	FloodPathConstraint
	Restrict suitable nodes by if they have been searched by a FloodPath. More...
class	FloodPathTracer
	Traces a path created with the Pathfinding.FloodPath. More...
class	Funnel
	Implements the funnel algorithm as well as various related methods. More...
class	FunnelModifier
	Simplifies paths on navmesh graphs using the funnel algorithm. More...
class	GraphCollision
	Handles collision checking for graphs. More...
class	GraphEditor
class	GraphEditorBase
	Defined here only so non-editor classes can use the target field. More...
struct	GraphHitInfo
	Returned by graph ray- or linecasts containing info about the hit. More...
class	GraphModifier
	GraphModifier is used for modifying graphs or processing graph data based on events. More...
class	GraphNode
	Base class for all nodes. More...
class	GraphUpdateObject
	Represents a collection of settings used to update nodes in a specific region of a graph. More...
class	GraphUpdateProcessor
class	GraphUpdateScene
	Helper class for easily updating graphs. More...
class	GraphUpdateSceneEditor
	Editor for GraphUpdateScene. More...
class	GraphUpdateShape
	Defines a shape for a Pathfinding.GraphUpdateObject. More...
class	GraphUpdateUtilities
	Contains useful functions for updating graphs. More...
class	GraphUtilities
	Contains utility methods for getting useful information out of graph. More...
class	GridGraph
	Generates a grid of nodes. More...
class	GridGraphEditor
class	GridNode
	Node used for the GridGraph. More...
class	GridNodeBase
	Base class for GridNode and LevelGridNode. More...
class	GUIUtilityx
	Simple GUI utility functions. More...
class	HierarchicalGraph
	Holds a hierarchical graph to speed up certain pathfinding queries. More...
interface	IAstarAI
	Common interface for all movement scripts in the A* Pathfinding Project. More...
interface	IGraphInternals
	Exposes internal methods for graphs. More...
interface	INavmesh
interface	INavmeshHolder
	Interface for something that holds a triangle based navmesh. More...
struct	Int2
	Two Dimensional Integer Coordinate Pair. More...
struct	Int3
	Holds a coordinate in integers. More...
struct	IntRect
	Integer Rectangle. More...
interface	IPathInternals
	Used for hiding internal methods of the Path class. More...
interface	IPathModifier
	Base for all path modifiers. More...
interface	IRaycastableGraph
	Graph which supports the Linecast method. More...
interface	ITransformedGraph
	Graph which has a well defined transformation from graph space to world space. More...
interface	ITraversalProvider
	Provides additional traversal information to a path request. More...
interface	IUpdatableGraph
	Graphs which can be updated during runtime. More...
interface	IVersionedMonoBehaviourInternal
	Exposes internal methods from Pathfinding.VersionedMonoBehaviour. More...
interface	IWorkItemContext
	Interface to expose a subset of the WorkItemProcessor functionality. More...
class	LayerGridGraph
	Grid Graph, supports layered worlds. More...
class	LayerGridGraphEditor
class	LayerGridGraphUpdate
	GraphUpdateObject with more settings for the LayerGridGraph. More...
class	LevelGridNode
	Describes a single node for the LayerGridGraph. More...
class	LocalSpaceGraph
	Helper for Pathfinding.Examples.LocalSpaceRichAI. More...
class	MeshNode
class	MonoModifier
	Base class for path modifiers which can be attached to GameObjects. More...
class	MultiTargetPath
	A path which searches from one point to a number of different targets in one search or from a number of different start points to a single target. More...
class	NavGraph
	Base class for all graphs. More...
class	NavmeshAdd
	Adds new geometry to a recast graph. More...
class	NavmeshBase
	Base class for RecastGraph and NavMeshGraph. More...
class	NavmeshClamp
	Attach to any GameObject and the object will be clamped to the navmesh. More...
class	NavmeshClipper
	Base class for the NavmeshCut and NavmeshAdd components. More...
class	NavmeshCut
	Navmesh cutting is used for fast recast/navmesh graph updates. More...
class	NavmeshCutEditor
class	NavMeshGraph
	Generates graphs based on navmeshes. More...
class	NavMeshGraphEditor
class	NavmeshTile
class	NavmeshUpdates
	Helper for navmesh cut objects. More...
class	NNConstraint
	Nearest node constraint. More...
struct	NNInfo
	Result of a nearest node query. More...
struct	NNInfoInternal
	Internal result of a nearest node query. More...
class	NodeLink
	Connects two nodes with a direct connection. More...
class	NodeLink2
	Connects two nodes via two intermediate point nodes. More...
class	NodeLink3
	Connects two TriangleMeshNodes (recast/navmesh graphs) as if they had shared an edge. More...
class	NodeLink3Node
class	ObjImporter
class	OptimizationHandler
	Helper for enabling or disabling compiler directives. More...
class	Path
	Base class for all path types. More...
class	PathEndingCondition
	Customized ending condition for a path. More...
class	PathHandler
	Handles thread specific path data. More...
class	PathModifier
	Base class for path modifiers which are not attached to GameObjects. More...
class	PathNNConstraint
	A special NNConstraint which can use different logic for the start node and end node in a path. More...
class	PathNode
	Stores temporary node data for a single pathfinding request. More...
class	PathPool
	Pools path objects to reduce load on the garbage collector. More...
class	PathProcessor
class	PathReturnQueue
class	PathUtilities
	Contains useful functions for working with paths and nodes. More...
class	Patrol
	Simple patrol behavior. More...
class	PointGraph
	Basic point graph. More...
class	PointGraphEditor
class	PointKDTree
	Represents a collection of GraphNodes. More...
class	PointNode
	Node used for the PointGraph. More...
class	Polygon
	Utility functions for working with polygons, lines, and other vector math. More...
class	ProceduralGridMover
	Moves a grid graph to follow a target. More...
class	Profile
struct	Progress
	Progress info for e.g a progressbar. More...
class	RadiusModifier
	Radius path modifier for offsetting paths. More...
class	RandomPath
	Finds a path in a random direction from the start node. More...
class	RaycastModifier
	Simplifies a path using raycasting. More...
class	RaycastModifierEditor
class	RecastBBTree
	Axis Aligned Bounding Box Tree. More...
class	RecastBBTreeBox
class	RecastGraph
	Automatically generates navmesh graphs based on world geometry. More...
class	RecastGraphEditor
	Editor for the RecastGraph. More...
class	RecastMeshObj
	Explicit mesh object for recast graphs. More...
class	RecastMeshObjEditor
class	RecastTileUpdate
	Updates the recast tile(s) it is in at start, needs RecastTileUpdateHandler. More...
class	RecastTileUpdateHandler
	Helper for easier fast updates to recast graphs. More...
class	RelevantGraphSurface
	Pruning of recast navmesh regions. More...
class	RichAI
	Advanced AI for navmesh based graphs. More...
class	RichFunnel
class	RichPath
class	RichPathPart
class	RichSpecial
class	RVONavmeshEditor
class	RVOSimulatorEditor
class	RVOSquareObstacleEditor
class	Seeker
	Handles path calls for a single unit. More...
class	SeekerEditor
class	SimpleSmoothModifier
	Modifier which smooths the path. More...
class	SingleNodeBlocker
	Blocks single nodes in a graph. More...
class	SmoothModifierEditor
class	StartEndModifier
	Adjusts start and end points of a path. More...
class	TargetMover
	Moves the target in example scenes. More...
class	ThreadControlQueue
	Queue of paths to be processed by the system. More...
class	TileHandlerHelper
	Helper for navmesh cut objects. More...
class	TriangleMeshNode
	Node represented by a triangle. More...
class	UniqueComponentAttribute
class	UnityReferenceHelper
	Helper class to keep track of references to GameObjects. More...
class	VectorMath
	Various vector math utility functions. More...
class	VersionedMonoBehaviour
	Base class for all components in the package. More...
class	WorkItemProcessor
class	XPath
	Extended Path. More...

Typedefs
using	Math = System.Math
using	Thread = System.Threading.Thread

Enumerations
enum	CloseToDestinationMode { Stop, ContinueToExactDestination }
	What to do when the character is close to the destination. More...
enum	ColliderType { Sphere, Capsule, Ray }
	Determines collision check shape. More...
enum	GraphDebugMode {   SolidColor, G, H, F,   Penalty, Areas, Tags, HierarchicalNode }
	How to visualize the graphs in the editor. More...
enum	GraphUpdateThreading {   UnityThread = 0, SeparateThread = 1 << 0, UnityInit = 1 << 1, UnityPost = 1 << 2,   SeparateAndUnityInit = SeparateThread | UnityInit }
enum	Heuristic { Manhattan, DiagonalManhattan, Euclidean, None }
	How to estimate the cost of moving to the destination during pathfinding. More...
enum	HeuristicOptimizationMode { None, Random, RandomSpreadOut, Custom }
enum	InspectorGridMode { Grid, IsometricGrid, Hexagonal, Advanced }
enum	NumNeighbours { Four, Eight, Six }
	Number of neighbours for a single grid node. More...
enum	OrientationMode { ZAxisForward, YAxisForward }
	Determines which direction the agent moves in. More...
enum	PathCompleteState { NotCalculated = 0, Error = 1, Complete = 2, Partial = 3 }
	State of a path request. More...
enum	PathLog {   None, Normal, Heavy, InGame,   OnlyErrors }
	How path results are logged by the system. More...
enum	PathState {   Created = 0, PathQueue = 1, Processing = 2, ReturnQueue = 3,   Returned = 4 }
	Internal state of a path in the pipeline. More...
enum	RayDirection { Up, Down, Both }
	Determines collision check ray direction. More...
enum	Side : byte { Colinear = 0, Left = 1, Right = 2 }
	Indicates the side of a line that a point lies on. More...
enum	ThreadCount {   AutomaticLowLoad = -1, AutomaticHighLoad = -2, None = 0, One = 1,   Two, Three, Four, Five,   Six, Seven, Eight }
	Number of threads to use. More...

Functions
delegate void	OnGraphDelegate (NavGraph graph)
delegate void	OnPathDelegate (Path p)
delegate void	OnScanDelegate (AstarPath script)
delegate void	OnScanStatus (Progress progress)

Typedef Documentation

Math

using Math = System.Math

Thread

typedef System Threading Thread Thread

Enumeration Type Documentation

CloseToDestinationMode

enum CloseToDestinationMode

strong

What to do when the character is close to the destination.

Enumerator
Stop	The character will stop as quickly as possible when within endReachedDistance (field that exist on most movement scripts) units from the destination.
ContinueToExactDestination	The character will continue to the exact position of the destination.

ColliderType

enum ColliderType

strong

Determines collision check shape.

See also

Pathfinding.GraphCollision

Enumerator
Sphere	Uses a Sphere, Physics.CheckSphere. In 2D this is a circle instead.
Capsule	Uses a Capsule, Physics.CheckCapsule. This will behave identically to the Sphere mode in 2D.
Ray	Uses a Ray, Physics.Linecast. In 2D this is a single point instead.

GraphDebugMode

enum GraphDebugMode

strong

How to visualize the graphs in the editor.

Enumerator
SolidColor	Draw the graphs with a single solid color.
G	Use the G score of the last calculated paths to color the graph. The G score is the cost from the start node to the given node. See also https://en.wikipedia.org/wiki/A*_search_algorithm
H	Use the H score (heuristic) of the last calculated paths to color the graph. The H score is the estimated cost from the current node to the target. See also https://en.wikipedia.org/wiki/A*_search_algorithm
F	Use the F score of the last calculated paths to color the graph. The F score is the G score + the H score, or in other words the estimated cost total cost of the path. See also https://en.wikipedia.org/wiki/A*_search_algorithm
Penalty	Use the penalty of each node to color the graph. This does not show penalties added by tags. See also Graph Updates during Runtime Pathfinding.GraphNode.Penalty
Areas	Visualize the connected components of the graph. A node with a given color can reach any other node with the same color. See also Pathfinding.HierarchicalGraph https://en.wikipedia.org/wiki/Connected_component_(graph_theory)
Tags	Use the tag of each node to color the graph. See also Working with tags Pathfinding.GraphNode.Tag
HierarchicalNode	Visualize the hierarchical graph structure of the graph. This is mostly for internal use. See also Pathfinding.HierarchicalGraph

GraphUpdateThreading

enum GraphUpdateThreading

strong

Enumerator
UnityThread	Call UpdateArea in the unity thread. This is the default value. Not compatible with SeparateThread.
SeparateThread	Call UpdateArea in a separate thread. Not compatible with UnityThread.
UnityInit	Calls UpdateAreaInit in the Unity thread before everything else.
UnityPost	Calls UpdateAreaPost in the Unity thread after everything else. This is used together with SeparateThread to apply the result of the multithreaded calculations to the graph without modifying it at the same time as some other script might be using it (e.g calling GetNearest).
SeparateAndUnityInit	Combination of SeparateThread and UnityInit.

Heuristic

enum Heuristic

strong

How to estimate the cost of moving to the destination during pathfinding.

The heuristic is the estimated cost from the current node to the target. The different heuristics have roughly the same performance except not using any heuristic at all (#None) which is usually significantly slower.

In the image below you can see a comparison of the different heuristic options for an 8-connected grid and for a 4-connected grid. Note that all paths within the green area will all have the same length. The only difference between the heuristics is which of those paths of the same length that will be chosen. Note that while the Diagonal Manhattan and Manhattan options seem to behave very differently on an 8-connected grid they only do it in this case because of very small rounding errors. Usually they behave almost identically on 8-connected grids.

Generally for a 4-connected grid graph the Manhattan option should be used as it is the true distance on a 4-connected grid. For an 8-connected grid graph the Diagonal Manhattan option is the mathematically most correct option, however the Euclidean option is often preferred, especially if you are simplifying the path afterwards using modifiers.

For any graph that is not grid based the Euclidean option is the best one to use.

See also

Wikipedia: A* search_algorithm

Enumerator
Manhattan	Manhattan distance. See also https://en.wikipedia.org/wiki/Taxicab_geometry
DiagonalManhattan	Manhattan distance, but allowing diagonal movement as well. Note This option is currently hard coded for the XZ plane. It will be equivalent to Manhattan distance if you try to use it in the XY plane (i.e for a 2D game).
Euclidean	Ordinary distance. See also https://en.wikipedia.org/wiki/Euclidean_distance
None	Use no heuristic at all. This reduces the pathfinding algorithm to Dijkstra's algorithm. This is usually significantly slower compared to using a heuristic, which is why the A* algorithm is usually preferred over Dijkstra's algorithm. You may have to use this if you have a very non-standard graph. For example a world with a wraparound playfield (think Civilization or Asteroids) and you have custom links with a zero cost from one end of the map to the other end. Usually the A* algorithm wouldn't find the wraparound links because it wouldn't think to look in that direction. See also https://en.wikipedia.org/wiki/Dijkstra%27s_algorithm

HeuristicOptimizationMode

enum HeuristicOptimizationMode

strong

Enumerator
None
Random
RandomSpreadOut
Custom

InspectorGridMode

enum InspectorGridMode

strong

Enumerator
Grid
IsometricGrid
Hexagonal
Advanced

NumNeighbours

enum NumNeighbours

strong

Number of neighbours for a single grid node.

Since

The 'Six' item was added in 3.6.1

Enumerator
Four
Eight
Six

OrientationMode

enum OrientationMode

strong

Determines which direction the agent moves in.

For 3D games you most likely want the ZAxisIsForward option as that is the convention for 3D games. For 2D games you most likely want the YAxisIsForward option as that is the convention for 2D games.

Enumerator
ZAxisForward
YAxisForward

PathCompleteState

enum PathCompleteState

strong

State of a path request.

Enumerator
NotCalculated	The path has not been calculated yet. See also Pathfinding.Path.IsDone()
Error	The path calculation is done, but it failed. See also Pathfinding.Path.error
Complete	The path has been successfully calculated.
Partial	The path has been calculated, but only a partial path could be found. See also Pathfinding.ABPath.calculatePartial

PathLog

enum PathLog

strong

How path results are logged by the system.

Enumerator
None	Does not log anything. This is recommended for release since logging path results has a performance overhead.
Normal	Logs basic info about the paths.
Heavy	Includes additional info.
InGame	Same as heavy, but displays the info in-game using GUI.
OnlyErrors	Same as normal, but logs only paths which returned an error.

PathState

enum PathState

strong

Internal state of a path in the pipeline.

Enumerator
Created
PathQueue
Processing
ReturnQueue
Returned

RayDirection

enum RayDirection

strong

Determines collision check ray direction.

Enumerator
Up	Casts the ray from the bottom upwards.
Down	Casts the ray from the top downwards.
Both	Casts two rays in both directions.

Side

enum Side : byte

strong

Indicates the side of a line that a point lies on.

Enumerator
Colinear	The point lies exactly on the line.
Left	The point lies on the left side of the line.
Right	The point lies on the right side of the line.

ThreadCount

enum ThreadCount

strong

Number of threads to use.

Enumerator
AutomaticLowLoad
AutomaticHighLoad
None
One
Two
Three
Four
Five
Six
Seven
Eight

Function Documentation

OnGraphDelegate()

delegate void Pathfinding.OnGraphDelegate

(

NavGraph

graph

)

OnPathDelegate()

delegate void Pathfinding.OnPathDelegate

(

Path

p

)

OnScanDelegate()

delegate void Pathfinding.OnScanDelegate

(

AstarPath

script

)

OnScanStatus()

delegate void Pathfinding.OnScanStatus

(

Progress

progress

)

Deprecated: