Struct PathTracer

void AppendNode (

bool	toStart
GraphNode	node

)

void AppendPath (

bool	toStart
CircularBuffer<GraphNode>	path

)

Appends the given nodes to the start or to the end of the path, one by one.

void CalculateFunnelPortals (

int	startNodeIndex
int	endNodeIndex
List<float3>	outLeftPortals
List<float3>	outRightPortals

)

void CheckInvariants ()

Checks that invariants are satisfied.

This is only called in the editor for performance reasons.

• firstPartIndex must be in bounds of parts.

• The first part must contain at least 1 node (unless there are no parts in the path at all).

• The number of nodes in the first part must be equal to the number of portals in the funnel state + 1.

• The number of portals in the funnel state must equal #portalIsNotInnerCorner.Length.

• The last node of the last part must end at the end of the path.

• The first node of the first part must start at the start of the path.

• firstPartContainsDestroyedNodes implies that there must be at least one destroyed node in the first part (this is an implication, not an equivalence).

• If the first node is not destroyed, then startNode must be the first node in the first part.

void Clear ()

void ConvertCornerIndicesToPathProjected (

NativeArray<int>	cornerIndices
int	numCorners
bool	lastCorner
NativeList<float3>	buffer
float3	up

)

void Dispose ()

void DrawGizmos (

CommandBuilder	draw
NativeMovementPlane	movementPlane

)

float EstimateRemainingPath (

int	maxCorners
refNativeMovementPlane	movementPlane

)

Estimates the remaining distance to the end of the current path part.

bool FirstInnerVertex (

NativeArray<int>	indices
int	numCorners
List<GraphNode>	alternativePath
out int	alternativeStartIndex
out int	alternativeEndIndex

)

Pathfinding.ECS.AgentOffMeshLinkTraversal GetLinkInfo (

int

partIndex=0

)

int GetNextCornerIndices (

ref NativeArray<int>	buffer
int	maxCorners
Allocator	allocator
out bool	lastCorner

)

void GetNextCorners (

NativeList<float3>	buffer	The buffer to store the corners in. The first corner will be the start point.
int	maxCorners	The maximum number of corners to store in the buffer. At least 2 corners will always be stored.
ref NativeArray<int>	scratchArray	A temporary array to use for calculations. This array will be resized if it is too small or uninitialized.
Allocator	allocator

)

Calculate the next corners in the path.

This will also do additional simplifications to the path if possible. Inner corners will be removed. There is a limit to how many simplifications will be done per frame.

If the path contains destroyed nodes, then isStale will become true and a best-effort result will be returned.

PartType GetPartType (

int

partIndex=0

)

void HeuristicallyPopPortals (

bool	isStartOfPart
Vector3	point

)

Use a heuristic to determine when an agent has passed a portal and we need to pop it.

Assumes the start point/end point of the first part is point, and simplifies the funnel accordingly. It uses the cached portals to determine if the agent has passed a portal. This works even if nodes have been destroyed.

PathTracer (

Allocator

allocator

)

void PopParts (

int

count

)

void RemoveAllPartsExceptFirst ()

void Repair (

Vector3	point
bool	isStart
RepairQuality	quality
NativeMovementPlane	movementPlane
bool	allowCache=true

)

void RepairFull (

Vector3	point
bool	isStart
RepairQuality	quality
NativeMovementPlane	movementPlane

)

void SetFromSingleNode (

GraphNode	node
Vector3	position
NativeMovementPlane	movementPlane

)

void SetFunnelState (

PathPart

part

)

void SetPath (

List<PathPart>	parts
List<GraphNode>	nodes
Vector3	unclampedStartPoint
Vector3	unclampedEndPoint
NativeMovementPlane	movementPlane

)

bool SplicePath (

int	startIndex	Absolute index of the first node to remove
int	toRemove	Number of nodes to remove
List<GraphNode>	toInsert	Nodes to insert at startIndex. The nodes must not be destroyed.

)

Removes nodes [startIndex, startIndex+toRemove) and then inserts the given nodes at startIndex.

Returns true if the splicing succeeded. Returns false if splicing failed because it would have to access destroyed nodes. In that case the path is left unmodified.

Vector3 UpdateEnd (

Vector3	position
RepairQuality	quality
NativeMovementPlane	movementPlane

)

Vector3 UpdateStart (

Vector3	position
RepairQuality	quality
NativeMovementPlane	movementPlane

)

bool ContainsAndProject (

refInt3	a
refInt3	b
refInt3	c
ref Vector3	p
float	height
refNativeMovementPlane	movementPlane
out float3	projected

)

Burstified function which checks if a point is inside a triangle-node and if so, projects that point onto the node's surface.

bool ContainsPoint (

GraphNode	node
Vector3	point
NativeMovementPlane	plane

)

bool ContainsPoint (

GraphNode	node
Vector3	point
NativeMovementPlane	plane
float	height

)

float EstimateRemainingPath (

ref FunnelState	funnelState
ref PathPart	part
int	maxCorners
refNativeMovementPlane	movementPlane

)

bool IsInnerVertex (

CircularBuffer<GraphNode>	nodes
PathPart	part
int	portalIndex
bool	rightSide
List<GraphNode>	alternativeNodes
out int	startIndex
out int	endIndex

)

Int3 MaybeSetYZero (

Int3	p
bool	setYToZero

)

float3 ProjectOnSurface (

float3	a
float3	b
float3	c
float3	p
float3	up

)

Vector3 ProjectOnSurface (

TriangleMeshNode	node
Vector3	point
NativeMovementPlane	plane

)

Vector3 ProjectOnSurface (

GraphNode	node
Vector3	point
NativeMovementPlane	plane

)

float RemainingDistanceLowerBound (

inUnsafeSpan<float3>	nextCorners
in float3	endOfPart
inNativeMovementPlane	movementPlane

)

bool endIsUpToDate

Vector3 endPoint

Vector3 endPointOfFirstPart

bool firstPartContainsDestroyedNodes

If true, the first part contains destroyed nodes.

This can happen if the graph is updated and some nodes are destroyed.

If this is true, the path is considered stale and should be recalculated.

The opposite is not necessarily true. If this is false, the path may still be stale.

int firstPartIndex

FunnelState funnelState

bool hasPath

bool isCreated

bool isStale

True if the path is stale and should be recalculated.

This is true if the path has become invalid (e.g. due to a graph update), or if the destination has changed so much that we don't have a path to the destination at all.

CircularBuffer<GraphNode> nodes

int partCount

Number of parts in the path.

A part is either a sequence of adjacent nodes, or an off-mesh link.

PathPart[] parts

CircularBuffer<byte> portalIsNotInnerCorner

Indicates if portals are definitely not inner corners, or if they may be.

For each portal, if bit 0 is set then the left side of the portal is definitely not an inner corner. If bit 1 is set that means the same thing but for the right side of the portal.

Should always have the same length as the portals in funnelState.

bool startIsUpToDate

GraphNode? startNode

Current start node of the path.

Since the path is updated every time the agent moves, this will be the node which the agent is inside.

In case the path has become invalid, this will be set to the closest node to the agent, or if no such node could be found, it will be set to null.

GraphNode startNodeInternal

Vector3 startPoint

Vector3 unclampedEndPoint

Vector3 unclampedStartPoint

ushort version

Incremented whenever the path is changed.

const int NODES_TO_CHECK_FOR_DESTRUCTION = 5

RepairQuality

ProfilerMarker MarkerClosest = new ProfilerMarker("ClosestPointOnNode")

ProfilerMarker MarkerContains = new ProfilerMarker("ContainsNode")

ProfilerMarker MarkerGetNearest = new ProfilerMarker("GetNearest")

List<GraphNode> scratchList