A* Pathfinding Project
4.1.7
The A* Pathfinding Project for Unity 3D
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Finds a path in a random direction from the start node. More...
Finds a path in a random direction from the start node.
Terminates and returns when G >= length (passed to the constructor) + RandomPath.spread or when there are no more nodes left to search.
Public Member Functions | |
RandomPath () | |
RandomPath (Vector3 start, int length, OnPathDelegate callback=null) | |
Public Member Functions inherited from ABPath | |
ABPath () | |
Default constructor. More... | |
Public Member Functions inherited from Path | |
void | BlockUntilCalculated () |
Blocks until this path has been calculated and returned. More... | |
void | Claim (System.Object o) |
Claim this path (pooling). More... | |
void | Error () |
Aborts the path because of an error. More... | |
PathState | GetState () |
Returns the state of the path in the pathfinding pipeline. More... | |
float | GetTotalLength () |
Total Length of the path. More... | |
bool | IsDone () |
Returns if this path is done calculating. More... | |
void | Release (System.Object o, bool silent=false) |
Releases a path claim (pooling). More... | |
IEnumerator | WaitForPath () |
Waits until this path has been calculated and returned. More... | |
Static Public Member Functions | |
static RandomPath | Construct (Vector3 start, int length, OnPathDelegate callback=null) |
Static Public Member Functions inherited from ABPath | |
static ABPath | Construct (Vector3 start, Vector3 end, OnPathDelegate callback=null) |
Construct a path with a start and end point. More... | |
Public Attributes | |
Vector3 | aim |
An aim can be used to guide the pathfinder to not take totally random paths. More... | |
float | aimStrength |
If an aim is set, the higher this value is, the more it will try to reach aim. More... | |
int | searchLength |
G score to stop searching at. More... | |
int | spread = 5000 |
All G scores between searchLength and searchLength+spread are valid end points, a random one of them is chosen as the final point. More... | |
Public Attributes inherited from ABPath | |
bool | calculatePartial |
Calculate partial path if the target node cannot be reached. More... | |
GraphNode | endNode |
End node of the path. More... | |
Vector3 | endPoint |
End point of the path. More... | |
Vector3 | originalEndPoint |
End Point exactly as in the path request. More... | |
Vector3 | originalStartPoint |
Start Point exactly as in the path request. More... | |
Int3 | startIntPoint |
Start point in integer coordinates. More... | |
GraphNode | startNode |
Start node of the path. More... | |
Vector3 | startPoint |
Start point of the path. More... | |
Public Attributes inherited from Path | |
OnPathDelegate | callback |
Callback to call when the path is complete. More... | |
int | enabledTags = -1 |
Which graph tags are traversable. More... | |
Heuristic | heuristic |
Determines which heuristic to use. More... | |
float | heuristicScale = 1F |
Scale of the heuristic values. More... | |
OnPathDelegate | immediateCallback |
Immediate callback to call when the path is complete. More... | |
NNConstraint | nnConstraint = PathNNConstraint.Default |
Constraint for how to search for nodes. More... | |
List< GraphNode > | path |
Holds the path as a Node array. More... | |
ITraversalProvider | traversalProvider |
Provides additional traversal information to a path request. More... | |
List< Vector3 > | vectorPath |
Holds the (possibly post processed) path as a Vector3 list. More... | |
Protected Member Functions | |
override void | CalculateStep (long targetTick) |
Calculates the path until completed or until the time has passed targetTick. More... | |
override void | Initialize () |
Initializes the path. More... | |
override void | Prepare () |
Prepares the path. More... | |
override void | Reset () |
Reset all values to their default values. More... | |
override void | ReturnPath () |
Calls callback to return the calculated path. More... | |
RandomPath | Setup (Vector3 start, int length, OnPathDelegate callback) |
Protected Member Functions inherited from ABPath | |
override void | Cleanup () |
Always called after the path has been calculated. More... | |
virtual void | CompletePathIfStartIsValidTarget () |
Checks if the start node is the target and complete the path if that is the case. More... | |
virtual bool | EndPointGridGraphSpecialCase (GraphNode closestWalkableEndNode) |
Applies a special case for grid nodes. More... | |
void | UpdateStartEnd (Vector3 start, Vector3 end) |
Sets the start and end points. More... | |
void | Setup (Vector3 start, Vector3 end, OnPathDelegate callbackDelegate) |
Protected Member Functions inherited from Path | |
void | DebugStringPrefix (PathLog logMode, System.Text.StringBuilder text) |
Writes text shared for all overrides of DebugString to the string builder. More... | |
void | DebugStringSuffix (PathLog logMode, System.Text.StringBuilder text) |
Writes text shared for all overrides of DebugString to the string builder. More... | |
virtual void | OnEnterPool () |
Called when the path enters the pool. More... | |
void | PrepareBase (PathHandler pathHandler) |
Prepares low level path variables for calculation. More... | |
virtual void | Trace (PathNode from) |
Traces the calculated path from the end node to the start. More... | |
Properties | |
override bool | FloodingPath [get] |
override bool | hasEndPoint [get] |
Properties inherited from ABPath | |
virtual bool | hasEndPoint [get] |
Determines if a search for an end node should be done. More... | |
Properties inherited from Path | |
PathCompleteState | CompleteState [get, protected set] |
Current state of the path. More... | |
bool | error [get] |
If the path failed, this is true. More... | |
string | errorLog [get, private set] |
Additional info on why a path failed. More... | |
virtual bool | FloodingPath [get] |
True for paths that want to search all nodes and not jump over nodes as optimizations. More... | |
PathHandler IPathInternals. | PathHandler [get] |
ushort | pathID [get, private set] |
ID of this path. More... | |
PathState | PipelineState [get, private set] |
Returns the state of the path in the pathfinding pipeline. More... | |
bool IPathInternals. | Pooled [get, set] |
True if the path is currently pooled. More... | |
bool | recycled [get] |
True if the path is currently recycled (i.e in the path pool). More... | |
int [] | tagPenalties [get, set] |
Penalties for each tag. More... | |
Properties inherited from IPathInternals | |
PathHandler | PathHandler [get] |
bool | Pooled [get, set] |
Private Attributes | |
PathNode | chosenNodeR |
Currently chosen end node. More... | |
int | maxGScore |
The G score of maxGScoreNodeR. More... | |
PathNode | maxGScoreNodeR |
The node with the highest G score which is still lower than searchLength. More... | |
int | nodesEvaluatedRep |
readonly System.Random | rnd = new System.Random() |
Random number generator. More... | |
Additional Inherited Members | |
Protected Attributes inherited from ABPath | |
int [] | endNodeCosts |
Saved original costs for the end node. More... | |
PathNode | partialBestTarget |
Current best target for the partial path. More... | |
Protected Attributes inherited from Path | |
PathCompleteState | completeState |
Backing field for CompleteState. More... | |
PathNode | currentR |
The node currently being processed. More... | |
bool | hasBeenReset |
True if the Reset function has been called. More... | |
Int3 | hTarget |
Target to use for H score calculations. More... | |
GraphNode | hTargetNode |
Target to use for H score calculation. More... | |
int [] | internalTagPenalties |
The tag penalties that are actually used. More... | |
int [] | manualTagPenalties |
Tag penalties set by other scripts. More... | |
PathHandler | pathHandler |
Data for the thread calculating this path. More... | |
Package Functions inherited from ABPath | |
override string | DebugString (PathLog logMode) |
Returns a debug string for this path. More... | |
override uint | GetConnectionSpecialCost (GraphNode a, GraphNode b, uint currentCost) |
May be called by graph nodes to get a special cost for some connections. More... | |
Package Functions inherited from Path | |
uint | CalculateHScore (GraphNode node) |
Estimated cost from the specified node to the target. More... | |
bool | CanTraverse (GraphNode node) |
Returns if the node can be traversed. More... | |
void | FailWithError (string msg) |
Causes the path to fail and sets errorLog to msg. More... | |
Int3 | GetHTarget () |
uint | GetTagPenalty (int tag) |
Returns penalty for the given tag. More... | |
uint | GetTraversalCost (GraphNode node) |
void | Log (string msg) |
Appends a message to the errorLog. More... | |
void | LogError (string msg) |
Logs an error. More... | |
void | ReleaseSilent (System.Object o) |
Releases the path silently (pooling). More... | |
Package Attributes inherited from Path | |
float | duration |
How long it took to calculate this path in milliseconds. More... | |
Path | next |
Internal linked list implementation. More... | |
int | searchedNodes |
Number of nodes this path has searched. More... | |
RandomPath | ( | ) |
RandomPath | ( | Vector3 | start, |
int | length, | ||
OnPathDelegate | callback = null |
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protectedvirtual |
Calculates the path until completed or until the time has passed targetTick.
Usually a check is only done every 500 nodes if the time has passed targetTick. Time/Ticks are got from System.DateTime.UtcNow.Ticks.
Basic outline of what the function does for the standard path (Pathfinding.ABPath).
Reimplemented from ABPath.
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protectedvirtual |
Initializes the path.
Sets up the open list and adds the first node to it
Reimplemented from ABPath.
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protectedvirtual |
Prepares the path.
Searches for start and end nodes and does some simple checking if a path is at all possible
Reimplemented from ABPath.
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protectedvirtual |
Reset all values to their default values.
All inheriting path types must implement this function, resetting ALL their variables to enable recycling of paths. Call this base function in inheriting types with base.Reset ();
Reimplemented from ABPath.
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protectedvirtual |
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protected |
Vector3 aim |
An aim can be used to guide the pathfinder to not take totally random paths.
For example you might want your AI to continue in generally the same direction as before, then you can specify aim to be transform.postion + transform.forward*10 which will make it more often take paths nearer that point
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private |
Currently chosen end node.
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The G score of maxGScoreNodeR.
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private |
The node with the highest G score which is still lower than searchLength.
Used as a backup if a node with a G score higher than searchLength could not be found
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Random number generator.
int searchLength |
G score to stop searching at.
The G score is rougly the distance to get from the start node to a node multiplied by 1000 (per default, see Pathfinding.Int3.Precision), plus any penalties
int spread = 5000 |
All G scores between searchLength and searchLength+spread are valid end points, a random one of them is chosen as the final point.
On grid graphs a low spread usually works (but keep it higher than nodeSize*1000 since that it the default cost of moving between two nodes), on NavMesh graphs I would recommend a higher spread so it can evaluate more nodes
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getpackage |
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getprotected |