Class LocalSpaceRichAI Extends RichAI

Public

RichAI for local space (pathfinding on moving graphs).

What this script does is that it fakes graph movement. It can be seen in the example scene called 'Moving' where a character is pathfinding on top of a moving ship. The graph does not actually move in that example instead there is some 'cheating' going on.

When requesting a path, we first transform the start and end positions of the path request into local space for the object we are moving on (e.g the ship in the example scene), then when we get the path back, they will still be in these local coordinates. When following the path, we will every frame transform the coordinates of the waypoints in the path to global coordinates so that we can follow them.

At the start of the game (when the graph is scanned) the object we are moving on should be at a valid position on the graph and you should attach the Pathfinding.LocalSpaceGraph component to it. The Pathfinding.LocalSpaceGraph component will store the position and orientation of the object right there are the start and then we can use that information to transform coordinates back to that region of the graph as if the object had not moved at all.

This functionality is only implemented for the RichAI script, however it should not be hard to use the same approach for other movement scripts.

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

Public Variables

graph

Root of the object we are moving on.

Public

Inherited Public Members

DrawGizmos ()
Public
DrawGizmos ()
Public
FinalizeMovement (nextPosition, nextRotation)

Moves the agent to a position.

Public
FindComponents ()

Looks for any attached components like RVOController and CharacterController etc.

Public
GetFeetPosition ()

Position of the base of the character.

Public
GetRemainingPath (buffer, stale)

Fills buffer with the remaining path.

Public
Move (deltaPosition)

Move the agent.

Public
MovementUpdate (deltaTime, nextPosition, nextRotation)

Calculate how the character wants to move during this frame.

Public
SearchPath ()

Recalculate the current path.

Public
SetPath (path, updateDestinationFromPath=true)

Make the AI follow the specified path.

Public
ShapeGizmoColor
Public Static Readonly
SimulateRotationTowards (direction, maxDegrees)

Simulates rotating the agent towards the specified direction and returns the new rotation.

Public
Teleport (newPosition, clearPath=true)

Instantly move the agent to a new position.

Public
acceleration

Max acceleration of the agent.

Public
approachingPartEndpoint

True if approaching the last waypoint in the current part of the path.

Public
approachingPathEndpoint

True if approaching the last waypoint of all parts in the current path.

Public
autoRepath

Determines how the agent recalculates its path automatically.

Public
canMove

Enables or disables movement completely.

Public
desiredVelocity

Velocity that this agent wants to move with.

Public
desiredVelocityWithoutLocalAvoidance

Velocity that this agent wants to move with before taking local avoidance into account.

Public
destination

Position in the world that this agent should move to.

Public
enableRotation

If true, the AI will rotate to face the movement direction.

Public
endOfPath

End point of path the agent is currently following.

Public
endReachedDistance

Distance to the end point to consider the end of path to be reached.

Public
funnelSimplification

Use funnel simplification.

Public
gravity

Gravity to use.

Public
groundMask

Layer mask to use for ground placement.

Public
hasPath

True if this agent currently has a path that it follows.

Public
height

Height of the agent in world units.

Public
isStopped

Gets or sets if the agent should stop moving.

Public
maxSpeed

Max speed in world units per second.

Public
movementPlane

Plane which this agent is moving in.

Public
onSearchPath

Called when the agent recalculates its path.

Public
onTraverseOffMeshLink

Called when the agent starts to traverse an off-mesh link.

orientation

Determines which direction the agent moves in.

Public
pathPending

True if a path is currently being calculated.

Public
position

Position of the agent.

Public
preventMovingBackwards

Prevent the velocity from being too far away from the forward direction of the character.

Public
radius

Radius of the agent in world units.

Public
reachedDestination

True if the ai has reached the destination.

Public
reachedEndOfPath

True if the agent has reached the end of the current path.

Public
remainingDistance

Approximate remaining distance along the current path to the end of the path.

Public
rotation

Rotation of the agent.

Public
rotation
Public
rotationSpeed

Max rotation speed of the agent.

Public
rvoDensityBehavior

Controls if the agent slows down to a stop if the area around the destination is crowded.

Public
slowWhenNotFacingTarget

Slow down when not facing the target direction.

Public
slowdownTime

How long before reaching the end of the path to start to slow down.

Public
steeringTarget

Point on the path which the agent is currently moving towards.

Public
traversingOffMeshLink
updatePosition

Determines if the character's position should be coupled to the Transform's position.

Public
updateRotation

Determines if the character's rotation should be coupled to the Transform's rotation.

Public
velocity

Actual velocity that the agent is moving with.

Public
wallDist

Walls within this range will be used for avoidance.

Public
wallForce

Force to avoid walls with.

Public
whenCloseToDestination

What to do when within endReachedDistance units from the destination.

Public

Private/Protected Members

ApplyGravity (deltaTime)

Accelerates the agent downwards.

Protected
Awake ()
Protected
CalculateDeltaToMoveThisFrame (position, distanceToEndOfPath, deltaTime)

Calculates how far to move during a single frame.

Protected
CalculatePathRequestEndpoints (start, end)

Outputs the start point and end point of the next automatic path request.

Protected
CancelCurrentPathRequest ()
Protected
ClampPositionToGraph (newPosition)
Protected
ClampToNavmesh (position, positionChanged)

Constrains the character's position to lie on the navmesh.

Protected
ClearPath ()

Clears the current path of the agent.

Protected
GizmoColorPath
Protected Static Readonly
MovementUpdateInternal (deltaTime, nextPosition, nextRotation)

Called during either Update or FixedUpdate depending on if rigidbodies are used for movement or not.

Protected
NextPart ()

Declare that the AI has completely traversed the current part.

Protected
OnDisable ()

Called when the component is disabled.

Protected
OnDrawGizmosSelected ()
Protected
OnEnable ()

Called when the component is enabled.

Protected
OnPathComplete (newPath)

Called when a requested path has been calculated.

Protected
OnUpdate (dt)

Called every frame.

Protected
OnUpgradeSerializedData (version, unityThread)

Handle serialization backwards compatibility.

Protected
RaycastPosition (position, lastElevation)

Checks if the character is grounded and prevents ground penetration.

Protected
RefreshTransform ()
Private
Reset ()

Handle serialization backwards compatibility.

Protected
SimulateRotationTowards (direction, maxDegreesMainAxis, maxDegreesOffAxis=…)

Simulates rotating the agent towards the specified direction and returns the new rotation.

Protected
Start ()

Starts searching for paths.

Protected
TraverseOffMeshLinkFallback (link)

Fallback for traversing off-mesh links in case onTraverseOffMeshLink is not set.

Protected
TraverseSpecial (link)

Traverses an off-mesh link.

Protected
UpdateTarget (fn)
Protected
UpdateVelocity ()
Protected
accumulatedMovementDelta

Accumulated movement deltas from the Move method.

Protected
controller

Cached CharacterController component.

Protected
delayUpdatePath
Protected
distanceToSteeringTarget

Distance to steeringTarget in the movement plane.

Protected
lastCorner
Protected
lastDeltaPosition

Amount which the character wants or tried to move with during the last frame.

Protected
lastDeltaTime

Delta time used for movement during the last frame.

Protected
lastRaycastHit

Hit info from the last raycast done for ground placement.

Protected
lastRepath

Time when the last path request was started.

Protected
nextCorners
Protected Readonly
prevFrame

Last frame index when prevPosition1 was updated.

Protected
prevPosition1

Position of the character at the end of the last frame.

Protected
prevPosition2

Position of the character at the end of the frame before the last frame.

Protected
richPath

Holds the current path that this agent is following.

Protected Readonly
rigid

Cached Rigidbody component.

Protected
rigid2D

Cached Rigidbody component.

Protected
rvoController

Cached RVOController component.

Protected
seeker

Cached Seeker component.

Protected
shouldRecalculatePath

True if the path should be automatically recalculated as soon as possible.

Protected
shouldRecalculatePath
Protected
simulatedPosition

Position of the agent.

Protected
simulatedRotation

Rotation of the agent.

Protected
startHasRun

True if the Start method has been executed.

Protected
tr

Cached Transform component.

Protected
usingGravity

Indicates if gravity is used during this frame.

Protected
velocity2D

Current desired velocity of the agent (does not include local avoidance and physics).

Protected
verticalVelocity

Velocity due to gravity.

Protected
waitingForPathCalculation

Only when the previous path has been calculated should the script consider searching for a new path.

Protected
wallBuffer
Protected Readonly