RadiusModifier Class Reference

Radius path modifier for offsetting paths. More...

Detailed Description

Radius path modifier for offsetting paths.

The radius modifier will offset the path to create the effect of adjusting it to the characters radius. It gives good results on navmeshes which have not been offset with the character radius during scan. Especially useful when characters with different radiuses are used on the same navmesh. It is also useful when using rvo local avoidance with the RVONavmesh since the RVONavmesh assumes the navmesh has not been offset with the character radius.

This modifier assumes all paths are in the XZ plane (i.e Y axis is up).

It is recommended to use the Funnel Modifier on the path as well.

See also

RVONavmesh

Modifiers

Also check out the howto page "Using Modifiers".

A* Pro Feature:

This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited
The Pro version can be bought here

Since

Added in 3.2.6

Public Member Functions
override void	Apply (Path p)
	Called for each path that the Seeker calculates after the calculation has finished. More...
List< Vector3 >	Apply (List< Vector3 > vs)
	Apply this modifier on a raw Vector3 list. More...
Public Member Functions inherited from MonoModifier
virtual void	PreProcess (Path path)

Public Attributes
float	detail = 10
	Detail of generated circle segments. More...
float	radius = 1f
	Radius of the circle segments generated. More...
Public Attributes inherited from MonoModifier
Seeker	seeker

Properties
override int	Order [get]
Properties inherited from MonoModifier
abstract int	Order [get]
	Modifiers will be executed from lower order to higher order. More...
Properties inherited from VersionedMonoBehaviour
int Util.IEntityIndex.	EntityIndex [get, set]
	Internal entity index used by #BurstBatchHelper. More...
Properties inherited from IEntityIndex
int	EntityIndex [get, set]
Properties inherited from IPathModifier
int	Order [get]

Private Types
enum	TangentType {   OuterRight = 1 << 0, InnerRightLeft = 1 << 1, InnerLeftRight = 1 << 2, OuterLeft = 1 << 3,   Outer = OuterRight | OuterLeft, Inner = InnerRightLeft | InnerLeftRight }

Private Member Functions
bool	CalculateCircleInner (Vector3 p1, Vector3 p2, float r1, float r2, out float a, out float sigma)
	Calculates inner tangents for a pair of circles. More...
bool	CalculateCircleOuter (Vector3 p1, Vector3 p2, float r1, float r2, out float a, out float sigma)
	Calculates outer tangents for a pair of circles. More...
TangentType	CalculateTangentType (Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4)
TangentType	CalculateTangentTypeSimple (Vector3 p1, Vector3 p2, Vector3 p3)

Private Attributes
float []	a1 = new float[10]
float []	a2 = new float[10]
bool []	dir = new bool[10]
float []	radi = new float[10]

Additional Inherited Members
Protected Member Functions inherited from MonoModifier
virtual void	OnDisable ()
virtual void	OnEnable ()
	Alerts the Seeker that this modifier exists. More...
Protected Member Functions inherited from VersionedMonoBehaviour
virtual void	Awake ()
virtual int	OnUpgradeSerializedData (int version, bool unityThread)
	Handle serialization backwards compatibility. More...
virtual void	Reset ()
	Handle serialization backwards compatibility. More...

Member Enumeration Documentation

TangentType

enum TangentType

strongprivate

Enumerator
OuterRight
InnerRightLeft
InnerLeftRight
OuterLeft
Outer
Inner

Member Function Documentation

Apply() [1/2]

override void Apply ( Path  path )

virtual

Called for each path that the Seeker calculates after the calculation has finished.

Implements MonoModifier.

Apply() [2/2]

List<Vector3> Apply

(

List< Vector3 >

vs

)

Apply this modifier on a raw Vector3 list.

CalculateCircleInner()

bool CalculateCircleInner ( Vector3  p1, Vector3  p2, float  r1, float  r2, out float  a, out float  sigma  )

private

Calculates inner tangents for a pair of circles.

Parameters

p1	Position of first circle
p2	Position of the second circle
r1	Radius of the first circle
r2	Radius of the second circle
a	Angle from the line joining the centers of the circles to the inner tangents.
sigma	World angle from p1 to p2 (in XZ space)

Add a to sigma to get the first tangent angle, subtract a from sigma to get the second tangent angle.

Returns

True on success. False when the circles are overlapping.

CalculateCircleOuter()

bool CalculateCircleOuter ( Vector3  p1, Vector3  p2, float  r1, float  r2, out float  a, out float  sigma  )

private

Calculates outer tangents for a pair of circles.

Parameters

p1	Position of first circle
p2	Position of the second circle
r1	Radius of the first circle
r2	Radius of the second circle
a	Angle from the line joining the centers of the circles to the inner tangents.
sigma	World angle from p1 to p2 (in XZ space)

Add a to sigma to get the first tangent angle, subtract a from sigma to get the second tangent angle.

Returns

True on success. False on failure (more specifically when |r1-r2| > |p1-p2| )

CalculateTangentType()

TangentType CalculateTangentType ( Vector3  p1, Vector3  p2, Vector3  p3, Vector3  p4  )

private

CalculateTangentTypeSimple()

TangentType CalculateTangentTypeSimple ( Vector3  p1, Vector3  p2, Vector3  p3  )

private

Member Data Documentation

a1

float [] a1 = new float[10]

private

a2

float [] a2 = new float[10]

private

detail

float detail = 10

Detail of generated circle segments.

Measured as steps per full circle.

It is more performant to use a low value. For movement, using a high value will barely improve path quality.

dir

bool [] dir = new bool[10]

private

radi

float [] radi = new float[10]

private

radius

float radius = 1f

Radius of the circle segments generated.

Usually similar to the character radius.

Property Documentation

Order

override int Order

get

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

• /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Modifiers/RadiusModifier.cs