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

void	AddConnection (GraphNode node, uint cost, int shapeEdge)
	Add a connection from this node to the specified node. More...

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

abstract Vector3	ClosestPointOnNode (Vector3 p)
	Closest point on the surface of this node to the point p. More...

abstract Vector3	ClosestPointOnNodeXZ (Vector3 p)
	Closest point on the surface of this node when seen from above. More...

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

virtual bool	ContainsPoint (Int3 point)
	Checks if point is inside the node when seen from above. More...

abstract bool	ContainsPoint (Vector3 point)
	Checks if point is inside the node when seen from above. More...

abstract bool	ContainsPointInGraphSpace (Int3 point)
	Checks if point is inside the node in graph space. More...

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

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

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

abstract Int3	GetVertex (int i)
	Get a vertex of this node. More...

abstract int	GetVertexCount ()
	Number of corner vertices that this node has. 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 void	UpdateRecursiveG (Path path, PathNode pathNode, PathHandler handler)

Public Member Functions inherited from GraphNode
virtual void	DeserializeNode (GraphSerializationContext ctx)
	Deserializes the node data from a byte array. More...

void	Destroy ()
	Destroys the node. 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...

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

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

void	RecalculateConnectionCosts ()
	Recalculates a node's connection costs. More...

virtual void	SerializeNode (GraphSerializationContext ctx)
	Serialized the node data to a byte array. More...

void	SetConnectivityDirty ()
	Inform the system that the node's connectivity has changed. More...

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

Public Attributes
Connection []	connections
	All connections from this node. More...

Public Attributes inherited from GraphNode
const uint	MaxGraphIndex = FlagsGraphMask >> FlagsGraphOffset
	Max number of graphs-1. More...

const uint	MaxHierarchicalNodeIndex = HierarchicalIndexMask >> FlagsHierarchicalIndexOffset

const int	MaxTagIndex = 32 - 1
	Max number of tags - 1. More...

Int3	position
	Position of the node in world space. More...

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

Properties inherited from GraphNode
uint	Area `[get]`
	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	HierarchicalNodeIndex `[get, set]`
	Hierarchical Node that contains this node. More...

bool	IsHierarchicalNodeDirty `[get, set]`
	Some internal bookkeeping. More...

int	NodeIndex `[get, 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 is traversable. More...

Member Function Documentation

◆ AddConnection() [1/2]

override void AddConnection	(	GraphNode	node,
		uint	cost
	)

virtual

Add a connection from this node to the specified node.

Parameters

node	Node to add a connection to
cost	Cost of traversing the connection. A cost of 1000 corresponds approximately to the cost of moving 1 world unit.

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.

◆ AddConnection() [2/2]

void AddConnection	(	GraphNode	node,
		uint	cost,
		int	shapeEdge
	)

Add a connection from this node to the specified node.

Parameters

node	Node to add a connection to
cost	Cost of traversing the connection. A cost of 1000 corresponds approximately to the cost of moving 1 world unit.
shapeEdge	Which edge on the shape of this node to use or -1 if no edge is used.

See also: Pathfinding.Connection.edge

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.

◆ 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()

abstract Vector3 ClosestPointOnNode ( Vector3 p )

pure virtual

Closest point on the surface of this node to the point p.

Implemented in TriangleMeshNode.

◆ ClosestPointOnNodeXZ()

abstract Vector3 ClosestPointOnNodeXZ ( Vector3 p )

pure virtual

Closest point on the surface of this node when seen from above.

This is usually very similar to ClosestPointOnNode but when the node is in a slope this can be significantly different.

When the blue point in the above image is used as an argument this method call will return the green point while the ClosestPointOnNode method will return the red point.

Implemented in TriangleMeshNode.

◆ ContainsConnection()

override bool ContainsConnection ( GraphNode node )

virtual

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

        AstarPath.active.AddWorkItem(new AstarWorkItem(ctx => {
            // Connect two nodes
            var node1 = AstarPath.active.GetNearest(transform.position, NNConstraint.None).node;
            var node2 = AstarPath.active.GetNearest(transform.position + Vector3.right, NNConstraint.None).node;
            var cost = (uint)(node2.position - node1.position).costMagnitude;
            node1.AddConnection(node2, cost);
            node2.AddConnection(node1, cost);
            node1.ContainsConnection(node2); // True
            node1.RemoveConnection(node2);
            node2.RemoveConnection(node1);
        }));

Reimplemented from GraphNode.

◆ ContainsPoint() [1/2]

virtual bool ContainsPoint ( Int3 point )

virtual

Checks if point is inside the node when seen from above.

◆ ContainsPoint() [2/2]

abstract bool ContainsPoint ( Vector3 point )

pure virtual

Checks if point is inside the node when seen from above.

Note that ContainsPointInGraphSpace is faster than this method as it avoids some coordinate transformations. If you are repeatedly calling this method on many different nodes but with the same point then you should consider transforming the point first and then calling ContainsPointInGraphSpace.

        Int3 p = (Int3)graph.transform.InverseTransform(point);
        node.ContainsPointInGraphSpace(p);

Implemented in TriangleMeshNode.

◆ ContainsPointInGraphSpace()

abstract bool ContainsPointInGraphSpace ( Int3 point )

pure virtual

Checks if point is inside the node in graph space.

In graph space the up direction is always the Y axis so in principle we project the triangle down on the XZ plane and check if the point is inside the 2D triangle there.

Implemented in TriangleMeshNode.

◆ 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.

◆ GetConnections()

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.

◆ 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.

◆ GetVertex()

abstract Int3 GetVertex ( int i )

pure virtual

Get a vertex of this node.

Parameters

i	vertex index. Must be between 0 and GetVertexCount (exclusive).

Implemented in TriangleMeshNode.

◆ GetVertexCount()

abstract int GetVertexCount ( )

pure virtual

Number of corner vertices that this node has.

For example for a triangle node this will return 3.

Implemented in TriangleMeshNode.

◆ 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.

◆ UpdateRecursiveG()

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

virtual

Reimplemented from GraphNode.

Reimplemented in TriangleMeshNode.

Member Data Documentation

◆ connections

Connection [] connections

All connections from this node.

See also: AddConnection; RemoveConnection

Note: If you modify this array or the contents of it you must call SetConnectivityDirty.

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

/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Core/Nodes/GraphNode.cs

Public Member Functions

Public Attributes

Additional Inherited Members

Member Function Documentation

◆ AddConnection() [1/2]

◆ AddConnection() [2/2]

◆ ClearConnections()

◆ ClosestPointOnNode()

◆ ClosestPointOnNodeXZ()

◆ ContainsConnection()

◆ ContainsPoint() [1/2]

◆ ContainsPoint() [2/2]

◆ ContainsPointInGraphSpace()

◆ DeserializeReferences()

◆ GetConnections()

◆ GetGizmoHashCode()

◆ GetVertex()

◆ GetVertexCount()

◆ RemoveConnection()

◆ SerializeReferences()

◆ UpdateRecursiveG()

Member Data Documentation

◆ connections