Base class for GridNode and LevelGridNode. More...

Detailed Description

Base class for GridNode and LevelGridNode.

Public Member Functions
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...

abstract GridNodeBase	GetNeighbourAlongDirection (int direction)
	Adjacent grid node in the specified direction. 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	DeserializeNode (GraphSerializationContext ctx)
	Deserializes node data (for example when loading graphs from file). More...

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

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...

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

Public Attributes
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
	GridNodeBase (AstarPath astar)

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

Protected Attributes
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...

Properties
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	GridFlagsWalkableErosionMask = 1 << GridFlagsWalkableErosionOffset

const int	GridFlagsWalkableErosionOffset = 8

const int	GridFlagsWalkableTmpMask = 1 << GridFlagsWalkableTmpOffset

const int	GridFlagsWalkableTmpOffset = 9

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

Constructor & Destructor Documentation

◆ GridNodeBase()

GridNodeBase ( AstarPath astar )

protected

Member Function Documentation

◆ AddConnection()

override void AddConnection	(	GraphNode	node,
		uint	cost
	)

virtual

Add a connection from this node to the specified node.

If the connection already exists, the cost will simply be updated and no extra connection added.

Note: Only adds a one-way connection. Consider calling the same function on the other node to get a two-way connection.

Implements GraphNode.

◆ 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.

◆ ClearCustomConnections()

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)

◆ ContainsConnection()

override bool ContainsConnection ( GraphNode node )

virtual

Checks if this node has a connection to the specified node.

Reimplemented from GraphNode.

◆ DeserializeReferences()

override void DeserializeReferences ( GraphSerializationContext ctx )

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 from GraphNode.

◆ FloodFill()

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

◆ 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.

◆ GetGizmoHashCode()

override int GetGizmoHashCode ( )

virtual

Hash code used for checking if the gizmos need to be updated.

Will change when the gizmos for the node might change.

Reimplemented from GraphNode.

◆ GetNeighbourAlongDirection()

abstract GridNodeBase GetNeighbourAlongDirection ( int direction )

pure 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

Implemented in LevelGridNode, and GridNode.

◆ 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.

◆ RandomPointOnSurface()

override Vector3 RandomPointOnSurface ( )

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 from GraphNode.

◆ RemoveConnection()

override void RemoveConnection ( GraphNode node )

virtual

Removes any connection from this node to the specified node.

If no such connection exists, nothing will be done.

Note: This only removes the connection from this node to the other node. You may want to call the same function on the other node to remove its eventual connection to this node.

Implements GraphNode.

◆ SerializeReferences()

override void SerializeReferences ( GraphSerializationContext ctx )

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 from GraphNode.

◆ SurfaceArea()

override float SurfaceArea ( )

virtual

The surface area of the node in square world units.

Reimplemented from GraphNode.

◆ 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

◆ connections

Connection [] connections

◆ gridFlags

ushort gridFlags

protected

◆ GridFlagsWalkableErosionMask

const int GridFlagsWalkableErosionMask = 1 << GridFlagsWalkableErosionOffset

private

◆ GridFlagsWalkableErosionOffset

const int GridFlagsWalkableErosionOffset = 8

private

◆ GridFlagsWalkableTmpMask

const int GridFlagsWalkableTmpMask = 1 << GridFlagsWalkableTmpOffset

private

◆ GridFlagsWalkableTmpOffset

const int GridFlagsWalkableTmpOffset = 9

private

◆ nodeInGridIndex

int nodeInGridIndex

protected

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

See also: NodeInGridIndex

◆ NodeInGridIndexLayerOffset

const int NodeInGridIndexLayerOffset = 24

protected

◆ NodeInGridIndexMask

const int NodeInGridIndexMask = 0xFFFFFF

protected

Property Documentation

◆ HasConnectionsToAllEightNeighbours

abstract bool HasConnectionsToAllEightNeighbours

get

True if the node has grid connections to all its 8 neighbours.

Note: This will always return false if GridGraph.neighbours is set to anything other than Eight.

See also: GetNeighbourAlongDirection

◆ NodeInGridIndex

int NodeInGridIndex

getset

The index of the node in the grid.

This is x + z*graph.width So you can get the X and Z indices using

int index = node.NodeInGridIndex;
int x = index % graph.width;
int z = index / graph.width;
// where graph is GridNode.GetGridGraph (node.graphIndex), i.e the graph the nodes are contained in.

◆ TmpWalkable

bool TmpWalkable

getset

Temporary variable used internally when updating the graph.

◆ WalkableErosion

bool WalkableErosion

getset

Stores walkability before erosion is applied.

Used internally when updating the graph.

◆ XCoordinateInGrid

int XCoordinateInGrid

get

X coordinate of the node in the grid.

The node in the bottom left corner has (x,z) = (0,0) and the one in the opposite corner has (x,z) = (width-1, depth-1)

See also: ZCoordInGrid; NodeInGridIndex

◆ ZCoordinateInGrid

int ZCoordinateInGrid

get

Z coordinate of the node in the grid.

The node in the bottom left corner has (x,z) = (0,0) and the one in the opposite corner has (x,z) = (width-1, depth-1)

See also: XCoordInGrid; NodeInGridIndex

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

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

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Properties

Private Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ GridNodeBase()

Member Function Documentation

◆ AddConnection()

◆ ClearConnections()

◆ ClearCustomConnections()

◆ ContainsConnection()

◆ DeserializeReferences()

◆ FloodFill()

◆ GetConnections() [1/2]

◆ GetConnections() [2/2]

◆ GetGizmoHashCode()

◆ GetNeighbourAlongDirection()

◆ Open()

◆ RandomPointOnSurface()

◆ RemoveConnection()

◆ SerializeReferences()

◆ SurfaceArea()

◆ UpdateRecursiveG()

Member Data Documentation

◆ connections

◆ gridFlags

◆ GridFlagsWalkableErosionMask

◆ GridFlagsWalkableErosionOffset

◆ GridFlagsWalkableTmpMask

◆ GridFlagsWalkableTmpOffset

◆ nodeInGridIndex

◆ NodeInGridIndexLayerOffset

◆ NodeInGridIndexMask

Property Documentation

◆ HasConnectionsToAllEightNeighbours

◆ NodeInGridIndex

◆ TmpWalkable

◆ WalkableErosion

◆ XCoordinateInGrid

◆ ZCoordinateInGrid