A* Pathfinding Project
4.1.7
The A* Pathfinding Project for Unity 3D
|
Base class for all nodes. More...
Base class for all nodes.
Public Member Functions | |
abstract void | AddConnection (GraphNode node, uint cost) |
abstract void | ClearConnections (bool alsoReverse) |
Remove all connections from this node. More... | |
virtual bool | ContainsConnection (GraphNode node) |
Checks if this node has a connection to the specified node. More... | |
virtual void | DeserializeNode (GraphSerializationContext ctx) |
virtual void | DeserializeReferences (GraphSerializationContext ctx) |
Used to deserialize references to other nodes e.g connections. More... | |
virtual void | FloodFill (Stack< GraphNode > stack, uint region) |
abstract void | GetConnections (System.Action< GraphNode > action) |
Calls the delegate with all connections from this node. More... | |
virtual int | GetGizmoHashCode () |
Hash code used for checking if the gizmos need to be updated. More... | |
virtual bool | GetPortal (GraphNode other, List< Vector3 > left, List< Vector3 > right, bool backwards) |
Add a portal from this node to the specified node. More... | |
abstract void | Open (Path path, PathNode pathNode, PathHandler handler) |
Open the node. More... | |
virtual Vector3 | RandomPointOnSurface () |
A random point on the surface of the node. More... | |
virtual void | RecalculateConnectionCosts () |
Recalculates all connection costs from this node. More... | |
abstract void | RemoveConnection (GraphNode node) |
virtual void | SerializeNode (GraphSerializationContext ctx) |
virtual void | SerializeReferences (GraphSerializationContext ctx) |
Used to serialize references to other nodes e.g connections. More... | |
virtual float | SurfaceArea () |
The surface area of the node in square world units. More... | |
virtual void | UpdateRecursiveG (Path path, PathNode pathNode, PathHandler handler) |
Public Attributes | |
const uint | MaxAreaIndex = FlagsAreaMask >> FlagsAreaOffset |
const uint | MaxGraphIndex = FlagsGraphMask >> FlagsGraphOffset |
Max number of graphs-1. More... | |
Int3 | position |
Position of the node in world space. More... | |
Protected Member Functions | |
GraphNode (AstarPath astar) | |
Constructor for a graph node. More... | |
Protected Attributes | |
uint | flags |
Bitpacked field holding several pieces of data. More... | |
Package Functions | |
void | Destroy () |
Destroys the node. More... | |
Properties | |
uint | Area [get, set] |
Connected component that contains the node. More... | |
bool | Destroyed [get] |
uint | Flags [get, set] |
Holds various bitpacked variables. More... | |
uint | GraphIndex [get, set] |
Graph which contains this node. More... | |
int | NodeIndex [get] |
Internal unique index. More... | |
uint | Penalty [get, set] |
Penalty cost for walking on this node. More... | |
uint | Tag [get, set] |
Node tag. More... | |
bool | Walkable [get, set] |
True if the node is traversable. More... | |
Private Attributes | |
const uint | FlagsAreaMask = (131072-1) << FlagsAreaOffset |
Mask of area bits. More... | |
const int | FlagsAreaOffset = 1 |
Start of area bits. More... | |
const uint | FlagsGraphMask = (256u-1) << FlagsGraphOffset |
Mask of graph index bits. More... | |
const int | FlagsGraphOffset = 24 |
Start of graph index bits. More... | |
const uint | FlagsTagMask = (32-1) << FlagsTagOffset |
Mask of tag bits. More... | |
const int | FlagsTagOffset = 19 |
Start of tag bits. More... | |
const uint | FlagsWalkableMask = 1 << FlagsWalkableOffset |
Mask of the walkable bit. More... | |
const int | FlagsWalkableOffset = 0 |
Position of the walkable bit. More... | |
int | nodeIndex |
Internal unique index. More... | |
uint | penalty |
Penalty cost for walking on this node. More... | |
|
pure virtual |
Implemented in MeshNode, GridNodeBase, and PointNode.
|
pure virtual |
Remove all connections from this node.
alsoReverse | if true, neighbours will be requested to remove connections to this node. |
Implemented in LevelGridNode, MeshNode, GridNodeBase, GridNode, and PointNode.
|
virtual |
Checks if this node has a connection to the specified node.
Reimplemented in MeshNode, GridNodeBase, and PointNode.
|
virtual |
Reimplemented in LevelGridNode, GridNode, TriangleMeshNode, and PointNode.
|
virtual |
Used to deserialize references to other nodes e.g connections.
Use the GraphSerializationContext.GetNodeIdentifier and GraphSerializationContext.GetNodeFromIdentifier methods for serialization and deserialization respectively.
Nodes must override this method and serialize their connections. Graph generators do not need to call this method, it will be called automatically on all nodes at the correct time by the serializer.
Reimplemented in MeshNode, GridNodeBase, and PointNode.
|
package |
Destroys the node.
Cleans up any temporary pathfinding data used for this node. The graph is responsible for calling this method on nodes when they are destroyed, including when the whole graph is destoyed. Otherwise memory leaks might present themselves.
Once called the Destroyed property will return true and subsequent calls to this method will not do anything.
|
virtual |
Reimplemented in LevelGridNode, MeshNode, and GridNode.
|
pure virtual |
Calls the delegate with all connections from this node.
You can add all connected nodes to a list like this
Implemented in LevelGridNode, MeshNode, GridNodeBase, GridNode, and PointNode.
|
virtual |
Hash code used for checking if the gizmos need to be updated.
Will change when the gizmos for the node might change.
Reimplemented in LevelGridNode, MeshNode, PointNode, and GridNodeBase.
|
virtual |
Add a portal from this node to the specified node.
This function should add a portal to the left and right lists which is connecting the two nodes (this and other).
other | The node which is on the other side of the portal (strictly speaking it does not actually have to be on the other side of the portal though). |
left | List of portal points on the left side of the funnel |
right | List of portal points on the right side of the funnel |
backwards | If this is true, the call was made on a node with the other node as the node before this one in the path. In this case you may choose to do nothing since a similar call will be made to the other node with this node referenced as other (but then with backwards = true). You do not have to care about switching the left and right lists, that is done for you already. |
The default implementation simply returns false.
This function may add more than one portal if necessary.
Reimplemented in LevelGridNode, GridNode, and NodeLink3Node.
|
pure virtual |
Open the node.
Implemented in LevelGridNode, GridNode, GridNodeBase, TriangleMeshNode, and PointNode.
|
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 in TriangleMeshNode, and GridNodeBase.
|
virtual |
Recalculates all connection costs from this node.
Depending on the node type, this may or may not be supported. Nothing will be done if the operation is not supported
|
pure virtual |
Implemented in MeshNode, GridNodeBase, and PointNode.
|
virtual |
Reimplemented in LevelGridNode, GridNode, TriangleMeshNode, and PointNode.
|
virtual |
Used to serialize references to other nodes e.g connections.
Use the GraphSerializationContext.GetNodeIdentifier and GraphSerializationContext.GetNodeFromIdentifier methods for serialization and deserialization respectively.
Nodes must override this method and serialize their connections. Graph generators do not need to call this method, it will be called automatically on all nodes at the correct time by the serializer.
Reimplemented in MeshNode, GridNodeBase, and PointNode.
|
virtual |
The surface area of the node in square world units.
Reimplemented in TriangleMeshNode, and GridNodeBase.
|
virtual |
Reimplemented in LevelGridNode, MeshNode, GridNode, GridNodeBase, TriangleMeshNode, and PointNode.
|
protected |
Bitpacked field holding several pieces of data.
|
private |
Mask of area bits.
|
private |
Start of area bits.
|
private |
Mask of graph index bits.
|
private |
Start of graph index bits.
|
private |
Mask of tag bits.
|
private |
Start of tag bits.
|
private |
Mask of the walkable bit.
|
private |
Position of the walkable bit.
const uint MaxAreaIndex = FlagsAreaMask >> FlagsAreaOffset |
const uint MaxGraphIndex = FlagsGraphMask >> FlagsGraphOffset |
Max number of graphs-1.
|
private |
Internal unique index.
|
private |
Penalty cost for walking on this node.
This can be used to make it harder/slower to walk over certain nodes.
A penalty of 1000 (Int3.Precision) corresponds to the cost of walking one world unit.
Int3 position |
|
getset |
Connected component that contains the node.
This is visualized in the scene view as differently colored nodes (if the graph coloring mode is set to 'Areas'). Each area represents a set of nodes such that there is no valid path between nodes of different colors.
|
get |
|
getset |
Holds various bitpacked variables.
|
getset |
Graph which contains this node.
|
get |
Internal unique index.
Every node will get a unique index. This index is not necessarily correlated with e.g the position of the node in the graph.
|
getset |
Penalty cost for walking on this node.
This can be used to make it harder/slower to walk over certain areas.
|
getset |
Node tag.
|
getset |
True if the node is traversable.