Cooperative path from a start point to an end point. More...

Detailed Description

Cooperative path from a start point to an end point.

Cooperative paths will try to be planned so that no units collide.

Classes
struct	LatePathData

Static Public Member Functions
static CooperativeABPath	Construct (System.Func< LatePathData > lazyData, Vector3 end, CooperativeContext context, OnPathDelegate callback=null)
	Construct a path with a start and end point. More...

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
CooperativeContext	cooperativeContext

System.Action	preCalculationCallback

int	startTick

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 until it is complete or the time has progressed past targetTick. More...

override void	Initialize ()
	Initializes the path. More...

override void	Prepare ()
	Called before the path is started. More...

Protected Member Functions inherited from ABPath
override void	CalculateStep (long targetTick)
	Calculates the path until completed or until the time has passed targetTick. More...

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...

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...

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	ReturnPath ()
	Calls callback to return the calculated path. More...

virtual void	Trace (PathNode from)
	Traces the calculated path from the end node to the start. More...

Private Attributes
System.Func< LatePathData >	lazyData

Additional Inherited Members
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...

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...

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]`

Member Function Documentation

◆ CalculateStep()

override void CalculateStep ( long targetTick )

protectedvirtual

Calculates the until it is complete or the time has progressed past targetTick.

Implements Path.

◆ Construct()

static CooperativeABPath Construct	(	System.Func< LatePathData >	lazyData,
		Vector3	end,
		CooperativeContext	context,
		OnPathDelegate	callback = `null`
	)

static

Construct a path with a start and end point.

Parameters

lazyData Delegate which should be able to return the start point of the path and the time (tick) at which the path should start. The time is required for scheduling and should usually be chosen as something like Mathf.CeilToInt (cooperativeContext.Time+0.05f) i.e the next tick (with some margin).

Warning: If you are using multithreading, this callback will be called from a separate thread. Do not use any part of the Unity API (except for things like the Math or Debug classes).

Parameters

end	Endpoint of the path
previousPath	Previous path which the AI used. When a CooperativePath has been calculated, the (node,tick) pairs which an agent following the path will occupy are reserved. If a previous path is set, the nodes occupied by that node will be unreserved right before this path is calculated so that this path can use those nodes in the path.
callback	The delegate will be called when the path has been calculated. Do not confuse it with the Seeker callback as they are sent at different times. If you are using a Seeker to start the path you can set callback to null.

This method will use pooling if possible.

Returns: The constructed path object

◆ Initialize()

override void Initialize ( )

protectedvirtual

Initializes the path.

Sets up the open list and adds the first node to it

Implements Path.

◆ Prepare()

override void Prepare ( )

protectedvirtual

Called before the path is started.

Called right before Initialize

Implements Path.

Member Data Documentation

◆ cooperativeContext

CooperativeContext cooperativeContext

◆ lazyData

System.Func<LatePathData> lazyData

private

◆ preCalculationCallback

System.Action preCalculationCallback

◆ startTick

int startTick

The documentation for this class was generated from the following file:

/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Core/Cooperative/CooperativeABPath.cs

Detailed Description

Classes

Static Public Member Functions

Public Attributes

Protected Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ CalculateStep()

◆ Construct()

◆ Initialize()

◆ Prepare()

Member Data Documentation

◆ cooperativeContext

◆ lazyData

◆ preCalculationCallback

◆ startTick