RichFunnel Class Reference

Public Member Functions
	RichFunnel ()
void	BuildFunnelCorridor (List< GraphNode > nodes, int start, int end)
	Build a funnel corridor from a node list slice. More...
Vector3	ClampToNavmesh (Vector3 position)
	Clamps the position to the navmesh and repairs the path if the agent has moved slightly outside it. More...
void	FindWalls (List< Vector3 > wallBuffer, float range)
	Fill wallBuffer with all navmesh wall segments close to the current position. More...
RichFunnel	Initialize (RichPath path, NavmeshBase graph)
	Works like a constructor, but can be used even for pooled objects. More...
override void	OnEnterPool ()
Vector3	Update (Vector3 position, List< Vector3 > buffer, int numCorners, out bool lastCorner, out bool requiresRepath)
	Find the next points to move towards and clamp the position to the navmesh. More...

Public Attributes
Vector3	exactEnd
Vector3	exactStart
bool	funnelSimplification = true
	Post process the funnel corridor or not. More...

Properties
TriangleMeshNode	CurrentNode [get]
float	DistanceToEndOfPath [get]
	Approximate distance (as the crow flies) to the endpoint of this path part. More...

Private Member Functions
bool	CheckForDestroyedNodes ()
	True if any node in the path is destroyed. More...
bool	ClampToNavmeshInternal (ref Vector3 position)
	Searches for the node the agent is inside. More...
bool	FindNextCorners (Vector3 origin, int startIndex, List< Vector3 > funnelPath, int numCorners, out bool lastCorner)
void	FindWalls (int nodeIndex, List< Vector3 > wallBuffer, Vector3 position, float range)
void	SimplifyPath (IRaycastableGraph graph, List< GraphNode > nodes, int start, int end, List< GraphNode > result, Vector3 startPoint, Vector3 endPoint)
	Simplifies a funnel path using linecasting. More...
void	UpdateFunnelCorridor (int splitIndex, List< TriangleMeshNode > prefix)
	Split funnel at node index splitIndex and throw the nodes up to that point away and replace with prefix. More...

Private Attributes
int	checkForDestroyedNodesCounter
int	currentNode
Vector3	currentPosition
NavmeshBase	graph
readonly List< Vector3 >	left
List< TriangleMeshNode >	nodes
RichPath	path
readonly List< Vector3 >	right
int []	triBuffer = new int[3]

Static Private Attributes
static Dictionary< TriangleMeshNode, TriangleMeshNode >	navmeshClampDict = new Dictionary<TriangleMeshNode, TriangleMeshNode>()
	Cached object to avoid unnecessary allocations. More...
static List< TriangleMeshNode >	navmeshClampList = new List<TriangleMeshNode>()
	Cached object to avoid unnecessary allocations. More...
static Queue< TriangleMeshNode >	navmeshClampQueue = new Queue<TriangleMeshNode>()
	Cached object to avoid unnecessary allocations. More...

Constructor & Destructor Documentation

RichFunnel()

RichFunnel

(

)

Member Function Documentation

BuildFunnelCorridor()

void BuildFunnelCorridor	(	List< GraphNode >	nodes,
		int	start,
		int	end
	)

Build a funnel corridor from a node list slice.

The nodes are assumed to be of type TriangleMeshNode.

Parameters

nodes	Nodes to build the funnel corridor from
start	Start index in the nodes list
end	End index in the nodes list, this index is inclusive

CheckForDestroyedNodes()

bool CheckForDestroyedNodes ( )

private

True if any node in the path is destroyed.

ClampToNavmesh()

Vector3 ClampToNavmesh

(

Vector3

position

)

Clamps the position to the navmesh and repairs the path if the agent has moved slightly outside it.

You should not call this method with anything other than the agent's position.

ClampToNavmeshInternal()

bool ClampToNavmeshInternal ( ref Vector3  position )

private

Searches for the node the agent is inside.

This will also clamp the position to the navmesh and repair the funnel cooridor if the agent moves slightly outside it.

Returns

True if nodes along the path have been destroyed so that a path recalculation is required

FindNextCorners()

bool FindNextCorners ( Vector3  origin, int  startIndex, List< Vector3 >  funnelPath, int  numCorners, out bool  lastCorner  )

private

FindWalls() [1/2]

void FindWalls	(	List< Vector3 >	wallBuffer,
		float	range
	)

Fill wallBuffer with all navmesh wall segments close to the current position.

A wall segment is a node edge which is not shared by any other neighbour node, i.e an outer edge on the navmesh.

FindWalls() [2/2]

void FindWalls ( int  nodeIndex, List< Vector3 >  wallBuffer, Vector3  position, float  range  )

private

Initialize()

RichFunnel Initialize	(	RichPath	path,
		NavmeshBase	graph
	)

Works like a constructor, but can be used even for pooled objects.

Returns this for easy chaining

OnEnterPool()

override void OnEnterPool ( )

virtual

Implements RichPathPart.

SimplifyPath()

void SimplifyPath ( IRaycastableGraph  graph, List< GraphNode >  nodes, int  start, int  end, List< GraphNode >  result, Vector3  startPoint, Vector3  endPoint  )

private

Simplifies a funnel path using linecasting.

Running time is roughly O(n^2 log n) in the worst case (where n = end-start) Actually it depends on how the graph looks, so in theory the actual upper limit on the worst case running time is O(n*m log n) (where n = end-start and m = nodes in the graph) but O(n^2 log n) is a much more realistic worst case limit.

Requires graph to implement IRaycastableGraph

Update()

Vector3 Update	(	Vector3	position,
		List< Vector3 >	buffer,
		int	numCorners,
		out bool	lastCorner,
		out bool	requiresRepath
	)

Find the next points to move towards and clamp the position to the navmesh.

Parameters

position	The position of the agent.
buffer	Will be filled with up to numCorners points which are the next points in the path towards the target.
numCorners	See buffer.
lastCorner	True if the buffer contains the end point of the path.
requiresRepath	True if nodes along the path have been destroyed and a path recalculation is necessary.

Returns

The position of the agent clamped to make sure it is inside the navmesh.

UpdateFunnelCorridor()

void UpdateFunnelCorridor ( int  splitIndex, List< TriangleMeshNode >  prefix  )

private

Split funnel at node index splitIndex and throw the nodes up to that point away and replace with prefix.

Used when the AI has happened to get sidetracked and entered a node outside the funnel.

Member Data Documentation

checkForDestroyedNodesCounter

int checkForDestroyedNodesCounter

private

currentNode

int currentNode

private

currentPosition

Vector3 currentPosition

private

exactEnd

Vector3 exactEnd

exactStart

Vector3 exactStart

funnelSimplification

bool funnelSimplification = true

Post process the funnel corridor or not.

graph

NavmeshBase graph

private

left

readonly List<Vector3> left

private

navmeshClampDict

Dictionary<TriangleMeshNode, TriangleMeshNode> navmeshClampDict = new Dictionary<TriangleMeshNode, TriangleMeshNode>()

staticprivate

Cached object to avoid unnecessary allocations.

navmeshClampList

List<TriangleMeshNode> navmeshClampList = new List<TriangleMeshNode>()

staticprivate

Cached object to avoid unnecessary allocations.

navmeshClampQueue

Queue<TriangleMeshNode> navmeshClampQueue = new Queue<TriangleMeshNode>()

staticprivate

Cached object to avoid unnecessary allocations.

nodes

List<TriangleMeshNode> nodes

private

path

RichPath path

private

right

readonly List<Vector3> right

private

triBuffer

int [] triBuffer = new int[3]

private

Property Documentation

CurrentNode

TriangleMeshNode CurrentNode

get

DistanceToEndOfPath

float DistanceToEndOfPath

get

Approximate distance (as the crow flies) to the endpoint of this path part.

See also

exactEnd

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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/RichPath.cs