A* Pathfinding Project
4.1.7
The A* Pathfinding Project for Unity 3D
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Handles path calls for a single unit. More...
Handles path calls for a single unit.
This is a component which is meant to be attached to a single unit (AI, Robot, Player, whatever) to handle its pathfinding calls. It also handles post-processing of paths using modifiers.
Public Types | |
enum | ModifierPass { PreProcess, PostProcess = 2 } |
Public Member Functions | |
Seeker () | |
void | CancelCurrentPathRequest (bool pool=true) |
Stop calculating the current path request. More... | |
void | DeregisterModifier (IPathModifier modifier) |
Called by modifiers when they are disabled or destroyed. More... | |
Path | GetCurrentPath () |
Path that is currently being calculated or was last calculated. More... | |
ABPath | GetNewPath (Vector3 start, Vector3 end) |
Returns a new path instance. More... | |
bool | IsDone () |
Is the current path done calculating. More... | |
void | OnDestroy () |
Cleans up some variables. More... | |
void | OnDrawGizmos () |
Draws gizmos for the Seeker. More... | |
void | PostProcess (Path path) |
Post Processes the path. More... | |
void | RegisterModifier (IPathModifier modifier) |
Called by modifiers to register themselves. More... | |
void | ReleaseClaimedPath () |
Releases the path used for gizmos (if any). More... | |
void | RunModifiers (ModifierPass pass, Path path) |
Runs modifiers on a path. More... | |
MultiTargetPath | StartMultiTargetPath (Vector3 start, Vector3[] endPoints, bool pathsForAll, OnPathDelegate callback=null, int graphMask=-1) |
Starts a Multi Target Path from one start point to multiple end points. More... | |
MultiTargetPath | StartMultiTargetPath (Vector3[] startPoints, Vector3 end, bool pathsForAll, OnPathDelegate callback=null, int graphMask=-1) |
Starts a Multi Target Path from multiple start points to a single target point. More... | |
MultiTargetPath | StartMultiTargetPath (MultiTargetPath p, OnPathDelegate callback=null, int graphMask=-1) |
Starts a Multi Target Path. More... | |
Path | StartPath (Vector3 start, Vector3 end) |
Call this function to start calculating a path. More... | |
Path | StartPath (Vector3 start, Vector3 end, OnPathDelegate callback) |
Call this function to start calculating a path. More... | |
Path | StartPath (Vector3 start, Vector3 end, OnPathDelegate callback, int graphMask) |
Call this function to start calculating a path. More... | |
Path | StartPath (Path p, OnPathDelegate callback=null, int graphMask=-1) |
Call this function to start calculating a path. More... | |
Public Attributes | |
bool | detailedGizmos |
Enables drawing of the non-postprocessed path using Gizmos. More... | |
bool | drawGizmos = true |
Enables drawing of the last calculated path using Gizmos. More... | |
OnPathDelegate | pathCallback |
Callback for when a path is completed. More... | |
OnPathDelegate | postProcessPath |
Called after a path has been calculated, right before modifiers are executed. More... | |
OnPathDelegate | preProcessPath |
Called before pathfinding is started. More... | |
StartEndModifier | startEndModifier = new StartEndModifier() |
Path modifier which tweaks the start and end points of a path. More... | |
int [] | tagPenalties = new int[32] |
Penalties for each tag. More... | |
int | traversableTags = -1 |
The tags which the Seeker can traverse. More... | |
Protected Member Functions | |
override void | Awake () |
Initializes a few variables. More... | |
Protected Member Functions inherited from VersionedMonoBehaviour | |
virtual int | OnUpgradeSerializedData (int version, bool unityThread) |
Handle serialization backwards compatibility. More... | |
Protected Attributes | |
uint | lastPathID |
The path ID of the last path queried. More... | |
Path | path |
The current path. More... | |
Private Member Functions | |
void | OnMultiPathComplete (Path p) |
Called once for a MultiTargetPath. More... | |
void | OnPartialPathComplete (Path p) |
Called for each path in a MultiTargetPath. More... | |
void | OnPathComplete (Path path) |
Called when a path has completed. More... | |
void | OnPathComplete (Path p, bool runModifiers, bool sendCallbacks) |
Called when a path has completed. More... | |
void | StartPathInternal (Path p, OnPathDelegate callback) |
Internal method to start a path and mark it as the currently active path. More... | |
Private Attributes | |
List< GraphNode > | lastCompletedNodePath |
Used for drawing gizmos. More... | |
List< Vector3 > | lastCompletedVectorPath |
Used for drawing gizmos. More... | |
readonly List< IPathModifier > | modifiers = new List<IPathModifier>() |
Internal list of all modifiers. More... | |
readonly OnPathDelegate | onPartialPathDelegate |
Cached delegate to avoid allocating one every time a path is started. More... | |
readonly OnPathDelegate | onPathDelegate |
Cached delegate to avoid allocating one every time a path is started. More... | |
Path | prevPath |
Previous path. More... | |
OnPathDelegate | tmpPathCallback |
Temporary callback only called for the current path. More... | |
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Seeker | ( | ) |
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protectedvirtual |
Initializes a few variables.
Reimplemented from VersionedMonoBehaviour.
void CancelCurrentPathRequest | ( | bool | pool = true | ) |
Stop calculating the current path request.
If this Seeker is currently calculating a path it will be canceled. The callback (usually to a method named OnPathComplete) will soon be called with a path that has the 'error' field set to true.
This does not stop the character from moving, it just aborts the path calculation.
pool | If true then the path will be pooled when the pathfinding system is done with it. |
void DeregisterModifier | ( | IPathModifier | modifier | ) |
Called by modifiers when they are disabled or destroyed.
Path GetCurrentPath | ( | ) |
Path that is currently being calculated or was last calculated.
You should rarely have to use this. Instead get the path when the path callback is called.
ABPath GetNewPath | ( | Vector3 | start, |
Vector3 | end | ||
) |
Returns a new path instance.
The path will be taken from the path pool if path recycling is turned on.
This path can be sent to StartPath(Path,OnPathDelegate,int) with no change, but if no change is required StartPath(Vector3,Vector3,OnPathDelegate) does just that.
bool IsDone | ( | ) |
Is the current path done calculating.
Returns true if the current path has been returned or if the path is null.
void OnDestroy | ( | ) |
Cleans up some variables.
Releases any eventually claimed paths. Calls OnDestroy on the startEndModifier.
void OnDrawGizmos | ( | ) |
Draws gizmos for the Seeker.
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Called once for a MultiTargetPath.
Only returns the path, does not post process.
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Called for each path in a MultiTargetPath.
Only post processes the path, does not return it.
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Called when a path has completed.
This should have been implemented as optional parameter values, but that didn't seem to work very well with delegates (the values weren't the default ones)
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Called when a path has completed.
Will post process it and return it by calling tmpPathCallback and pathCallback
void PostProcess | ( | Path | path | ) |
Post Processes the path.
This will run any modifiers attached to this GameObject on the path. This is identical to calling RunModifiers(ModifierPass.PostProcess, path)
void RegisterModifier | ( | IPathModifier | modifier | ) |
Called by modifiers to register themselves.
void ReleaseClaimedPath | ( | ) |
Releases the path used for gizmos (if any).
The seeker keeps the latest path claimed so it can draw gizmos. In some cases this might not be desireable and you want it released. In that case, you can call this method to release it (not that path gizmos will then not be drawn).
If you didn't understand anything from the description above, you probably don't need to use this method.
void RunModifiers | ( | ModifierPass | pass, |
Path | path | ||
) |
Runs modifiers on a path.
MultiTargetPath StartMultiTargetPath | ( | Vector3 | start, |
Vector3 [] | endPoints, | ||
bool | pathsForAll, | ||
OnPathDelegate | callback = null , |
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int | graphMask = -1 |
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Starts a Multi Target Path from one start point to multiple end points.
A Multi Target Path will search for all the end points in one search and will return all paths if pathsForAll is true, or only the shortest one if pathsForAll is false.
start | The start point of the path |
endPoints | The end points of the path |
pathsForAll | Indicates whether or not a path to all end points should be searched for or only to the closest one |
callback | The function to call when the path has been calculated |
graphMask | Mask used to specify which graphs should be searched for close nodes. See Pathfinding.NNConstraint.graphMask. |
callback and pathCallback will be called when the path has completed. Callback will not be called if the path is canceled (e.g when a new path is requested before the previous one has completed)
MultiTargetPath StartMultiTargetPath | ( | Vector3 [] | startPoints, |
Vector3 | end, | ||
bool | pathsForAll, | ||
OnPathDelegate | callback = null , |
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int | graphMask = -1 |
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Starts a Multi Target Path from multiple start points to a single target point.
A Multi Target Path will search from all start points to the target point in one search and will return all paths if pathsForAll is true, or only the shortest one if pathsForAll is false.
startPoints | The start points of the path |
end | The end point of the path |
pathsForAll | Indicates whether or not a path from all start points should be searched for or only to the closest one |
callback | The function to call when the path has been calculated |
graphMask | Mask used to specify which graphs should be searched for close nodes. See Pathfinding.NNConstraint.graphMask. |
callback and pathCallback will be called when the path has completed. Callback will not be called if the path is canceled (e.g when a new path is requested before the previous one has completed)
MultiTargetPath StartMultiTargetPath | ( | MultiTargetPath | p, |
OnPathDelegate | callback = null , |
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int | graphMask = -1 |
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Starts a Multi Target Path.
Takes a MultiTargetPath and wires everything up for it to send callbacks to the seeker for post-processing.
p | The path to start calculating |
callback | The function to call when the path has been calculated |
graphMask | Mask used to specify which graphs should be searched for close nodes. See Pathfinding.NNConstraint.graphMask. |
callback and pathCallback will be called when the path has completed. Callback will not be called if the path is canceled (e.g when a new path is requested before the previous one has completed)
Path StartPath | ( | Vector3 | start, |
Vector3 | end | ||
) |
Call this function to start calculating a path.
Since this method does not take a callback parameter, you should set the pathCallback field before calling this method.
start | The start point of the path |
end | The end point of the path |
Path StartPath | ( | Vector3 | start, |
Vector3 | end, | ||
OnPathDelegate | callback | ||
) |
Call this function to start calculating a path.
start | The start point of the path |
end | The end point of the path |
callback | The function to call when the path has been calculated |
callback will be called when the path has completed. Callback will not be called if the path is canceled (e.g when a new path is requested before the previous one has completed)
Path StartPath | ( | Vector3 | start, |
Vector3 | end, | ||
OnPathDelegate | callback, | ||
int | graphMask | ||
) |
Call this function to start calculating a path.
start | The start point of the path |
end | The end point of the path |
callback | The function to call when the path has been calculated |
graphMask | Mask used to specify which graphs should be searched for close nodes. See Pathfinding.NNConstraint.graphMask. |
callback will be called when the path has completed. Callback will not be called if the path is canceled (e.g when a new path is requested before the previous one has completed)
Path StartPath | ( | Path | p, |
OnPathDelegate | callback = null , |
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int | graphMask = -1 |
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) |
Call this function to start calculating a path.
p | The path to start calculating |
callback | The function to call when the path has been calculated |
graphMask | Mask used to specify which graphs should be searched for close nodes. See Pathfinding.NNConstraint.graphMask. |
The callback will be called when the path has been calculated (which may be several frames into the future). The callback will not be called if a new path request is started before this path request has been calculated.
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Internal method to start a path and mark it as the currently active path.
bool detailedGizmos |
Enables drawing of the non-postprocessed path using Gizmos.
The path will show up in orange.
Requires that drawGizmos is true.
This will show the path before any post processing such as smoothing is applied.
bool drawGizmos = true |
Enables drawing of the last calculated path using Gizmos.
The path will show up in green.
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Used for drawing gizmos.
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Used for drawing gizmos.
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The path ID of the last path queried.
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Internal list of all modifiers.
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Cached delegate to avoid allocating one every time a path is started.
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Cached delegate to avoid allocating one every time a path is started.
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The current path.
OnPathDelegate pathCallback |
Callback for when a path is completed.
Movement scripts should register to this delegate.
A temporary callback can also be set when calling StartPath, but that delegate will only be called for that path
OnPathDelegate postProcessPath |
Called after a path has been calculated, right before modifiers are executed.
OnPathDelegate preProcessPath |
Called before pathfinding is started.
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Previous path.
Used to draw gizmos
StartEndModifier startEndModifier = new StartEndModifier() |
Path modifier which tweaks the start and end points of a path.
int [] tagPenalties = new int[32] |
Penalties for each tag.
Tag 0 which is the default tag, will have added a penalty of tagPenalties[0]. These should only be positive values since the A* algorithm cannot handle negative penalties.
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Temporary callback only called for the current path.
This value is set by the StartPath functions
int traversableTags = -1 |
The tags which the Seeker can traverse.