Detailed Description

Node used for the GridGraph.

Public Member Functions
	GridNode (AstarPath astar)

override void	ClearConnections (bool alsoReverse)
	Remove all connections from this node. More...

Vector3	ClosestPointOnNode (Vector3 p)

override void	DeserializeNode (GraphSerializationContext ctx)
	Deserializes node data (for example when loading graphs from file). More...

override void	FloodFill (Stack< GraphNode > stack, uint region)
	Internal method to run a flood fill in order to recalculate the Area property. More...

bool	GetConnectionInternal (int dir)
	True if the node has a connection in the specified direction. More...

override void	GetConnections (System.Action< GraphNode > action)
	Calls the delegate with all connections from this node. More...

override void	GetConnections (System.Action< Connection > action)
	Calls the delegate with all connections and respective costs from this node. More...

override GridNodeBase	GetNeighbourAlongDirection (int direction)
	Adjacent grid node in the specified direction. More...

override bool	GetPortal (GraphNode other, List< Vector3 > left, List< Vector3 > right, bool backwards)
	Add a portal from this node to the specified node. More...

bool	HasConnectionInDirection (int dir)
	True if the node has a connection in the specified direction. More...

override void	Open (Path path, PathNode pathNode, PathHandler handler)
	Open the node. More...

void	ResetConnectionsInternal ()
	Disables all grid connections from this node. More...

override void	SerializeNode (GraphSerializationContext ctx)
	Serializes node data (for example when saving graphs to file). More...

void	SetAllConnectionInternal (int connections)
	Sets the state of all grid connections. More...

void	SetConnectionInternal (int dir, bool value)
	Enables or disables a connection in a specified direction on the graph. More...

override void	UpdateRecursiveG (Path path, PathNode pathNode, PathHandler handler)
	Internal method to update the G score. More...

Public Member Functions inherited from GridNodeBase
override void	AddConnection (GraphNode node, uint cost)
	Add a connection from this node to the specified node. More...

override void	ClearConnections (bool alsoReverse)
	Remove all connections from this node. More...

void	ClearCustomConnections (bool alsoReverse)
	Same as ClearConnections, but does not clear grid connections, only custom ones (e.g added by AddConnection or a NodeLink component) More...

override bool	ContainsConnection (GraphNode node)
	Checks if this node has a connection to the specified node. More...

override void	DeserializeReferences (GraphSerializationContext ctx)
	Used to deserialize references to other nodes e.g connections. More...

override void	FloodFill (System.Collections.Generic.Stack< GraphNode > stack, uint region)

override void	GetConnections (System.Action< GraphNode > action)
	Calls the delegate with all connections from this node. More...

override void	GetConnections (System.Action< Connection > action)
	Calls the delegate with all connections and respective costs from this node. More...

override int	GetGizmoHashCode ()
	Hash code used for checking if the gizmos need to be updated. More...

override void	Open (Path path, PathNode pathNode, PathHandler handler)
	Open the node. More...

override Vector3	RandomPointOnSurface ()
	A random point on the surface of the node. More...

override void	RemoveConnection (GraphNode node)
	Removes any connection from this node to the specified node. More...

override void	SerializeReferences (GraphSerializationContext ctx)
	Used to serialize references to other nodes e.g connections. More...

override float	SurfaceArea ()
	The surface area of the node in square world units. More...

override void	UpdateRecursiveG (Path path, PathNode pathNode, PathHandler handler)
	Internal method to update the G score. More...

Public Member Functions inherited from GraphNode
virtual void	OpenCooperative (CooperativeABPath path, PathNodeCooperative pathNode, CooperativePathHandler handler)
	Open the node cooperatively. More...

virtual void	RecalculateConnectionCosts ()
	Recalculates all connection costs from this node. More...

Static Public Member Functions
static GridGraph	GetGridGraph (uint graphIndex)

static void	SetGridGraph (int graphIndex, GridGraph graph)

Properties
bool	EdgeNode `[get, set]`
	Work in progress for a feature that required info about which nodes were at the border of the graph. More...

override bool	HasConnectionsToAllEightNeighbours `[get]`

ushort	InternalGridFlags `[get, set]`
	Internal use only. More...

Properties inherited from GridNodeBase
abstract bool	HasConnectionsToAllEightNeighbours `[get]`
	True if the node has grid connections to all its 8 neighbours. More...

int	NodeInGridIndex `[get, set]`
	The index of the node in the grid. More...

bool	TmpWalkable `[get, set]`
	Temporary variable used internally when updating the graph. More...

bool	WalkableErosion `[get, set]`
	Stores walkability before erosion is applied. More...

int	XCoordinateInGrid `[get]`
	X coordinate of the node in the grid. More...

int	ZCoordinateInGrid `[get]`
	Z coordinate of the node in the grid. More...

Properties inherited from GraphNode
uint	Area `[get, set]`
	Connected component that contains the node. More...

bool	Destroyed `[get]`

uint	Flags `[get, set]`
	Holds various bitpacked variables. More...

NavGraph	Graph `[get]`
	Graph which this node belongs to. More...

uint	GraphIndex `[get, set]`
	Graph which contains this node. More...

int	NodeIndex `[get, private set]`
	Internal unique index. More...

uint	Penalty `[get, set]`
	Penalty cost for walking on this node. More...

uint	Tag `[get, set]`
	Node tag. More...

bool	TemporaryFlag1 `[get, set]`
	Temporary flag for internal purposes. More...

bool	TemporaryFlag2 `[get, set]`
	Temporary flag for internal purposes. More...

bool	Walkable `[get, set]`
	True if the node can be traversed. More...

Private Attributes
const int	GridFlagsConnectionBit0 = 1 << GridFlagsConnectionOffset

const int	GridFlagsConnectionMask = 0xFF << GridFlagsConnectionOffset

const int	GridFlagsConnectionOffset = 0

const int	GridFlagsEdgeNodeMask = 1 << GridFlagsEdgeNodeOffset

const int	GridFlagsEdgeNodeOffset = 10

Static Private Attributes
static GridGraph []	_gridGraphs = new GridGraph[0]

Additional Inherited Members
Public Attributes inherited from GridNodeBase
Connection []	connections

Public Attributes inherited from GraphNode
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 inherited from GridNodeBase
	GridNodeBase (AstarPath astar)

Protected Member Functions inherited from GraphNode
	GraphNode (AstarPath astar)
	Constructor for a graph node. More...

Protected Attributes inherited from GridNodeBase
ushort	gridFlags

int	nodeInGridIndex
	Bitfield containing the x and z coordinates of the node as well as the layer (for layered grid graphs). More...

const int	NodeInGridIndexLayerOffset = 24

const int	NodeInGridIndexMask = 0xFFFFFF

Protected Attributes inherited from GraphNode
uint	flags
	Bitpacked field holding several pieces of data. More...

Package Functions inherited from GraphNode
void	Destroy ()
	Destroys the node. More...

Constructor & Destructor Documentation

◆ GridNode()

GridNode ( AstarPath astar )

Member Function Documentation

◆ ClearConnections()

override void ClearConnections ( bool alsoReverse )

virtual

Remove all connections from this node.

Parameters

alsoReverse if true, neighbours will be requested to remove connections to this node.

Implements GraphNode.

◆ ClosestPointOnNode()

Vector3 ClosestPointOnNode ( Vector3 p )

◆ DeserializeNode()

override void DeserializeNode ( GraphSerializationContext ctx )

virtual

Deserializes node data (for example when loading graphs from file).

See also: SerializeNode

Reimplemented from GraphNode.

◆ FloodFill()

override void FloodFill	(	Stack< GraphNode >	stack,
		uint	region
	)

virtual

Internal method to run a flood fill in order to recalculate the Area property.

Reimplemented from GraphNode.

◆ GetConnectionInternal()

bool GetConnectionInternal ( int dir )

True if the node has a connection in the specified direction.

Deprecated:: Use HasConnectionInDirection

◆ GetConnections() [1/2]

override void GetConnections ( System.Action< GraphNode > action )

virtual

Calls the delegate with all connections from this node.

        node.GetConnections(connectedTo => {
            Debug.DrawLine((Vector3)node.position, (Vector3)connectedTo.position, Color.red);
        });

You can add all connected nodes to a list like this

var connections = new List<GraphNode>();

node.GetConnections(connections.Add);

Implements GraphNode.

◆ GetConnections() [2/2]

override void GetConnections ( System.Action< Connection > action )

virtual

Calls the delegate with all connections and respective costs from this node.

Implements GraphNode.

◆ GetGridGraph()

static GridGraph GetGridGraph ( uint graphIndex )

static

◆ GetNeighbourAlongDirection()

override GridNodeBase GetNeighbourAlongDirection ( int direction )

virtual

Adjacent grid node in the specified direction.

This will return null if the node does not have a connection to a node in that direction.

The dir parameter corresponds to directions in the grid as:

        Z
        |
        |
     6  2  5
      \ | /
--  3 - X - 1  ----- X
      / | \
     7  0  4
        |
        |

See also: GetConnections

Implements GridNodeBase.

◆ GetPortal()

override bool GetPortal	(	GraphNode	other,
		List< Vector3 >	left,
		List< Vector3 >	right,
		bool	backwards
	)

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).

Parameters

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.

Returns: True if the call was deemed successful. False if some unknown case was encountered and no portal could be added. If both calls to node1.GetPortal (node2,...) and node2.GetPortal (node1,...) return false, the funnel modifier will fall back to adding to the path the positions of the node.

The default implementation simply returns false.

This function may add more than one portal if necessary.

See also: http://digestingduck.blogspot.se/2010/03/simple-stupid-funnel-algorithm.html

Reimplemented from GraphNode.

◆ HasConnectionInDirection()

bool HasConnectionInDirection ( int dir )

True if the node has a connection in the specified direction.

The dir parameter corresponds to directions in the grid as:

        Z
        |
        |
     6  2  5
      \ | /
--  3 - X - 1  ----- X
      / | \
     7  0  4
        |
        |

See also: SetConnectionInternal

◆ Open()

override void Open	(	Path	path,
		PathNode	pathNode,
		PathHandler	handler
	)

virtual

Open the node.

Adds all neighbours of this node to the open list.

See also: https://en.wikipedia.org/wiki/A*_search_algorithm

Implements GraphNode.

◆ ResetConnectionsInternal()

void ResetConnectionsInternal ( )

Disables all grid connections from this node.

Note: Other nodes might still be able to get to this node. Therefore it is recommended to also disable the relevant connections on adjacent nodes.

◆ SerializeNode()

override void SerializeNode ( GraphSerializationContext ctx )

virtual

Serializes node data (for example when saving graphs to file).

See also: DeserializeNode

Reimplemented from GraphNode.

◆ SetAllConnectionInternal()

void SetAllConnectionInternal ( int connections )

Sets the state of all grid connections.

Parameters

connections a bitmask of the connections (bit 0 is the first connection, bit 1 the second connection, etc.).

See also: SetConnectionInternal

◆ SetConnectionInternal()

void SetConnectionInternal	(	int	dir,
		bool	value
	)

Enables or disables a connection in a specified direction on the graph.

See also: HasConnectionInDirection

◆ SetGridGraph()

static void SetGridGraph	(	int	graphIndex,
		GridGraph	graph
	)

static

◆ UpdateRecursiveG()

override void UpdateRecursiveG	(	Path	path,
		PathNode	pathNode,
		PathHandler	handler
	)

virtual

Internal method to update the G score.

Internal method to update the G score for this node and all children of it in the search graph

Reimplemented from GraphNode.

Member Data Documentation

◆ _gridGraphs

GridGraph [] _gridGraphs = new GridGraph[0]

staticprivate

◆ GridFlagsConnectionBit0

const int GridFlagsConnectionBit0 = 1 << GridFlagsConnectionOffset

private

◆ GridFlagsConnectionMask

const int GridFlagsConnectionMask = 0xFF << GridFlagsConnectionOffset

private

◆ GridFlagsConnectionOffset

const int GridFlagsConnectionOffset = 0

private

◆ GridFlagsEdgeNodeMask

const int GridFlagsEdgeNodeMask = 1 << GridFlagsEdgeNodeOffset

private

◆ GridFlagsEdgeNodeOffset

const int GridFlagsEdgeNodeOffset = 10

private

Property Documentation

◆ EdgeNode

bool EdgeNode

getset

Work in progress for a feature that required info about which nodes were at the border of the graph.

Note: This property is not functional at the moment.

◆ HasConnectionsToAllEightNeighbours

override bool HasConnectionsToAllEightNeighbours

get

◆ InternalGridFlags

ushort InternalGridFlags

getsetpackage

Internal use only.

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

/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Generators/NodeClasses/GridNode.cs

Detailed Description

Public Member Functions

Static Public Member Functions

Properties

Private Attributes

Static Private Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ GridNode()

Member Function Documentation

◆ ClearConnections()

◆ ClosestPointOnNode()

◆ DeserializeNode()

◆ FloodFill()

◆ GetConnectionInternal()

◆ GetConnections() [1/2]

◆ GetConnections() [2/2]

◆ GetGridGraph()

◆ GetNeighbourAlongDirection()

◆ GetPortal()

◆ HasConnectionInDirection()

◆ Open()

◆ ResetConnectionsInternal()

◆ SerializeNode()

◆ SetAllConnectionInternal()

◆ SetConnectionInternal()

◆ SetGridGraph()

◆ UpdateRecursiveG()

Member Data Documentation

◆ _gridGraphs

◆ GridFlagsConnectionBit0

◆ GridFlagsConnectionMask

◆ GridFlagsConnectionOffset

◆ GridFlagsEdgeNodeMask

◆ GridFlagsEdgeNodeOffset

Property Documentation

◆ EdgeNode

◆ HasConnectionsToAllEightNeighbours

◆ InternalGridFlags