Do pathfinding calculations on the TiledNavMesh More...

Classes
struct	SegInterval

Public Member Functions
	NavMeshQuery (TiledNavMesh nav, int maxNodes)
	Initializes a new instance of the NavMeshQuery class. More...

	NavMeshQuery (TiledNavMesh nav, int maxNodes, Random rand)
	Initializes a new instance of the NavMeshQuery class. More...

float	GetCost (Vector3 pa, Vector3 pb, Poly curPoly)
	The cost between two points may vary depending on the type of polygon. More...

Vector3	FindRandomPointOnPoly (MeshTile tile, Poly poly, int polyRef)
	Finds a random point on a polygon. More...

void	FindRandomPointOnPoly (MeshTile tile, Poly poly, int polyRef, out Vector3 randomPt)
	Finds a random point on a polygon. More...

NavPoint	FindRandomPoint ()
	Finds a random point somewhere in the navigation mesh. More...

void	FindRandomPoint (out NavPoint randomPoint)
	Finds a random point somewhere in the navigation mesh. More...

NavPoint	FindRandomPointAroundCircle (NavPoint center, float radius)
	Finds a random point in a NavMesh within a specified circle. More...

void	FindRandomPointAroundCircle (NavPoint center, float radius, out NavPoint randomPoint)
	Finds a random point in a NavMesh within a specified circle. More...

bool	FindPath (ref NavPoint startPt, ref NavPoint endPt, List< int > path)
	Find a path from the start polygon to the end polygon. -If the end polygon can't be reached, the last polygon will be nearest the end polygon -If the path array is too small, it will be filled as far as possible -start and end positions are used to calculate traversal costs More...

bool	FindStraightPath (Vector3 startPos, Vector3 endPos, int[] path, int pathSize, Vector3[] straightPath, int[] straightPathFlags, int[] straightPathRefs, ref int straightPathCount, int maxStraightPath, PathBuildFlags options)
	Add vertices and portals to a regular path computed from the method FindPath(). More...

bool	MoveAlongSurface (NavPoint startPoint, Vector3 endPos, ref Vector3 resultPos, List< int > visited)
	This method is optimized for small delta movement and a small number of polygons. If movement distance is too large, the result will form an incomplete path. More...

bool	InitSlicedFindPath (NavPoint startPoint, NavPoint endPoint)
	Initialize a sliced path, which is used mostly for crowd pathfinding. More...

bool	UpdateSlicedFindPath (int maxIter, ref int doneIters)
	Update the sliced path as agents move across the path. More...

bool	FinalizeSlicedFindPath (int[] path, ref int pathCount, int maxPath)
	Save the sliced path More...

bool	FinalizedSlicedPathPartial (int[] existing, int existingSize, int[] path, ref int pathCount, int maxPath)
	Save a partial path More...

bool	Raycast (NavPoint startPoint, Vector3 endPos, ref float t, ref Vector3 hitNormal, int[] path, ref int pathCount, int maxPath)

bool	FindLocalNeighbourhood (NavPoint centerPoint, float radius, int[] resultRef, int[] resultParent, ref int resultCount, int maxResult)
	Store polygons that are within a certain range from the current polygon More...

bool	GetPolyWallSegments (int reference, Crowds.LocalBoundary.Segment[] segmentVerts, int[] segmentRefs, ref int segmentCount, int maxSegments)
	Collect all the edges from a polygon. More...

void	InsertInterval (SegInterval[] ints, ref int nints, int maxInts, int tmin, int tmax, int reference)
	Insert a segment into the array More...

bool	GetEdgeMidPoint (int from, Poly fromPoly, MeshTile fromTile, int to, Poly toPoly, MeshTile toTile, ref Vector3 mid)
	Get edge midpoint between two prolygons More...

bool	GetPortalPoints (int from, int to, ref Vector3 left, ref Vector3 right, ref PolygonType fromType, ref PolygonType toType)
	Find points on the left and right side. More...

bool	GetPortalPoints (int from, Poly fromPoly, MeshTile fromTile, int to, Poly toPoly, MeshTile toTile, ref Vector3 left, ref Vector3 right)
	Find points on the left and right side. More...

bool	ClosestPointOnPoly (int reference, Vector3 pos, ref Vector3 closest)
	Given a point on the polygon, find the closest point More...

bool	ClosestPointOnPoly (int reference, Vector3 pos, out Vector3 closest, out bool posOverPoly)
	Given a point on the polygon, find the closest point More...

bool	ClosestPointOnPolyBoundary (int reference, Vector3 pos, ref Vector3 closest)
	Given a point on a polygon, find the closest point which lies on the polygon boundary. More...

bool	AppendVertex (Vector3 pos, int flags, int reference, Vector3[] straightPath, int[] straightPathFlags, int[] straightPathRefs, ref int straightPathCount, int maxStraightPath)
	Add a vertex to the straight path. More...

bool	AppendPortals (int startIdx, int endIdx, Vector3 endPos, int[] path, Vector3[] straightPath, int[] straightPathFlags, int[] straightPathRefs, ref int straightPathCount, int maxStraightPath, PathBuildFlags options)
	Update the vertices on the straight path More...

bool	GetPolyHeight (int reference, Vector3 pos, ref float height)
	Return false if the provided position is outside the xz-bounds. More...

NavPoint	FindNearestPoly (Vector3 center, Vector3 extents)
	Find the nearest poly within a certain range. More...

void	FindNearestPoly (ref Vector3 center, ref Vector3 extents, out NavPoint nearestPt)
	Find the nearest poly within a certain range. More...

bool	QueryPolygons (ref Vector3 center, ref Vector3 extent, List< int > polys)
	Finds nearby polygons within a certain range. More...

bool	IsValidPolyRef (int reference)

bool	IsInOpenList (Node node)

bool	IsInClosedList (Node node)

void	SetNodeFlagOpen (ref Node node)

void	SetNodeFlagClosed (ref Node node)

NodeFlags	RemoveNodeFlagClosed (Node node)

Properties
TiledNavMesh	NavMesh `[get]`

Detailed Description

Do pathfinding calculations on the TiledNavMesh

Definition at line 24 of file NavMeshQuery.cs.

Constructor & Destructor Documentation

◆ NavMeshQuery() [1/2]

SharpNav.NavMeshQuery.NavMeshQuery	(	TiledNavMesh	nav,
		int	maxNodes
	)

Initializes a new instance of the NavMeshQuery class.

Parameters

nav	The navigation mesh to query.
maxNodes	The maximum number of nodes that can be queued in a query.

Definition at line 41 of file NavMeshQuery.cs.

◆ NavMeshQuery() [2/2]

SharpNav.NavMeshQuery.NavMeshQuery	(	TiledNavMesh	nav,
		int	maxNodes,
		Random	rand
	)

Initializes a new instance of the NavMeshQuery class.

Parameters

nav	The navigation mesh to query.
maxNodes	The maximum number of nodes that can be queued in a query.
rand	A random number generator for use in methods like NavMeshQuery.FindRandomPoint()

Definition at line 52 of file NavMeshQuery.cs.

Member Function Documentation

◆ AppendPortals()

bool SharpNav.NavMeshQuery.AppendPortals	(	int	startIdx,
		int	endIdx,
		Vector3	endPos,
		int[]	path,
		Vector3[]	straightPath,
		int[]	straightPathFlags,
		int[]	straightPathRefs,
		ref int	straightPathCount,
		int	maxStraightPath,
		PathBuildFlags	options
	)

Update the vertices on the straight path

Parameters

startIdx	Original path's starting index
endIdx	Original path's end index
endPos	The end position
path	The original path of polygon references
straightPath	An array of points on the straight path
straightPathFlags	An array of flags
straightPathRefs	An array of polygon references
straightPathCount	The number of points on the path
maxStraightPath	The maximum length allowed for the straight path
options	Options flag

Returns

Definition at line 2154 of file NavMeshQuery.cs.

◆ AppendVertex()

bool SharpNav.NavMeshQuery.AppendVertex	(	Vector3	pos,
		int	flags,
		int	reference,
		Vector3[]	straightPath,
		int[]	straightPathFlags,
		int[]	straightPathRefs,
		ref int	straightPathCount,
		int	maxStraightPath
	)

Add a vertex to the straight path.

Parameters

pos
flags
reference
straightPath	An array of points on the straight path
straightPathFlags	An array of flags
straightPathRefs	An array of polygon references
straightPathCount	The number of points on the path
maxStraightPath	The maximum length allowed for the straight path

Returns: True, if end of path hasn't been reached yet and path isn't full. False, if otherwise.

Definition at line 2106 of file NavMeshQuery.cs.

◆ ClosestPointOnPoly() [1/2]

bool SharpNav.NavMeshQuery.ClosestPointOnPoly	(	int	reference,
		Vector3	pos,
		out Vector3	closest,
		out bool	posOverPoly
	)

Given a point on the polygon, find the closest point

Parameters

reference	Polygon reference
pos	Current position
closest	Resulting closest position
posOverPoly	Determines whether the position can be found on the polygon

Returns: True, if the closest point is found. False, if otherwise.

Definition at line 1976 of file NavMeshQuery.cs.

◆ ClosestPointOnPoly() [2/2]

bool SharpNav.NavMeshQuery.ClosestPointOnPoly	(	int	reference,
		Vector3	pos,
		ref Vector3	closest
	)

Given a point on the polygon, find the closest point

Parameters

reference	Polygon reference
pos	Given point
closest	Resulting closest point

Returns: True, if point found. False, if otherwise.

Definition at line 1950 of file NavMeshQuery.cs.

◆ ClosestPointOnPolyBoundary()

bool SharpNav.NavMeshQuery.ClosestPointOnPolyBoundary	(	int	reference,
		Vector3	pos,
		ref Vector3	closest
	)

Given a point on a polygon, find the closest point which lies on the polygon boundary.

Parameters

reference	Polygon reference
pos	Current position
closest	Resulting closest point

Returns: True, if the closest point is found. False, if otherwise.

Definition at line 2083 of file NavMeshQuery.cs.

◆ FinalizedSlicedPathPartial()

bool SharpNav.NavMeshQuery.FinalizedSlicedPathPartial	(	int[]	existing,
		int	existingSize,
		int[]	path,
		ref int	pathCount,
		int	maxPath
	)

Save a partial path

Parameters

existing	Existing path
existingSize	Existing path's length
path	New path
pathCount	New path's length
maxPath	Maximum path length allowed

Returns: True if path saved, false if not

Definition at line 1238 of file NavMeshQuery.cs.

◆ FinalizeSlicedFindPath()

bool SharpNav.NavMeshQuery.FinalizeSlicedFindPath	(	int[]	path,
		ref int	pathCount,
		int	maxPath
	)

Save the sliced path

Parameters

path	The path in terms of polygon references
pathCount	The path length
maxPath	The maximum path length allowed

Returns: True if the path is saved, false if not

Definition at line 1176 of file NavMeshQuery.cs.

◆ FindLocalNeighbourhood()

bool SharpNav.NavMeshQuery.FindLocalNeighbourhood	(	NavPoint	centerPoint,
		float	radius,
		int[]	resultRef,
		int[]	resultParent,
		ref int	resultCount,
		int	maxResult
	)

Store polygons that are within a certain range from the current polygon

Parameters

centerPoint	Starting position
radius	Range to search within
resultRef	All the polygons within range
resultParent	Polygon's parents
resultCount	Number of polygons stored
maxResult	Maximum number of polygons allowed

Returns: True, unless input is invalid

Definition at line 1494 of file NavMeshQuery.cs.

◆ FindNearestPoly() [1/2]

void SharpNav.NavMeshQuery.FindNearestPoly	(	ref Vector3	center,
		ref Vector3	extents,
		out NavPoint	nearestPt
	)

Find the nearest poly within a certain range.

Parameters

center	Center.
extents	Extents.
nearestPt	The neareast point.

Definition at line 2270 of file NavMeshQuery.cs.

◆ FindNearestPoly() [2/2]

NavPoint SharpNav.NavMeshQuery.FindNearestPoly	(	Vector3	center,
		Vector3	extents
	)

Find the nearest poly within a certain range.

Parameters

center	Center.
extents	Extents.

Returns: The neareast point.

Definition at line 2257 of file NavMeshQuery.cs.

◆ FindPath()

bool SharpNav.NavMeshQuery.FindPath	(	ref NavPoint	startPt,
		ref NavPoint	endPt,
		List< int >	path
	)

Find a path from the start polygon to the end polygon. -If the end polygon can't be reached, the last polygon will be nearest the end polygon -If the path array is too small, it will be filled as far as possible -start and end positions are used to calculate traversal costs

Parameters

startPt	The start point.
endPt	The end point.
path	The path of polygon references

Returns: True, if path found. False, if otherwise.

Definition at line 397 of file NavMeshQuery.cs.

◆ FindRandomPoint() [1/2]

NavPoint SharpNav.NavMeshQuery.FindRandomPoint ( )

Finds a random point somewhere in the navigation mesh.

Returns: Resulting random point.

Definition at line 132 of file NavMeshQuery.cs.

◆ FindRandomPoint() [2/2]

void SharpNav.NavMeshQuery.FindRandomPoint ( out NavPoint randomPoint )

Finds a random point somewhere in the navigation mesh.

Parameters

randomPoint Resulting random point.

Definition at line 143 of file NavMeshQuery.cs.

◆ FindRandomPointAroundCircle() [1/2]

NavPoint SharpNav.NavMeshQuery.FindRandomPointAroundCircle	(	NavPoint	center,
		float	radius
	)

Finds a random point in a NavMesh within a specified circle.

Parameters

center	The center point.
radius	The maximum distance away from the center that the random point can be.

Returns: A random point within the specified circle.

Definition at line 225 of file NavMeshQuery.cs.

◆ FindRandomPointAroundCircle() [2/2]

void SharpNav.NavMeshQuery.FindRandomPointAroundCircle	(	NavPoint	center,
		float	radius,
		out NavPoint	randomPoint
	)

Finds a random point in a NavMesh within a specified circle.

Parameters

center	The center point.
radius	The maximum distance away from the center that the random point can be.
randomPoint	A random point within the specified circle.

Definition at line 238 of file NavMeshQuery.cs.

◆ FindRandomPointOnPoly() [1/2]

Vector3 SharpNav.NavMeshQuery.FindRandomPointOnPoly	(	MeshTile	tile,
		Poly	poly,
		int	polyRef
	)

Finds a random point on a polygon.

Parameters

tile	The current mesh tile
poly	The current polygon
polyRef	Polygon reference

Returns: Resulting random point

Definition at line 94 of file NavMeshQuery.cs.

◆ FindRandomPointOnPoly() [2/2]

void SharpNav.NavMeshQuery.FindRandomPointOnPoly	(	MeshTile	tile,
		Poly	poly,
		int	polyRef,
		out Vector3	randomPt
	)

Finds a random point on a polygon.

Parameters

tile	The current mesh tile
poly	The current polygon
polyRef	Polygon reference
randomPt	Resulting random point

Definition at line 108 of file NavMeshQuery.cs.

◆ FindStraightPath()

bool SharpNav.NavMeshQuery.FindStraightPath	(	Vector3	startPos,
		Vector3	endPos,
		int[]	path,
		int	pathSize,
		Vector3[]	straightPath,
		int[]	straightPathFlags,
		int[]	straightPathRefs,
		ref int	straightPathCount,
		int	maxStraightPath,
		PathBuildFlags	options
	)

Add vertices and portals to a regular path computed from the method FindPath().

Parameters

startPos	Starting position
endPos	Ending position
path	Path of polygon references
pathSize	Length of path
straightPath	An array of points on the straight path
straightPathFlags	An array of flags
straightPathRefs	An array of polygon references
straightPathCount	The number of points on the path
maxStraightPath	The maximum length allowed for the straight path
options	Options flag

Returns: True, if path found. False, if otherwise.

Definition at line 586 of file NavMeshQuery.cs.

◆ GetCost()

float SharpNav.NavMeshQuery.GetCost	(	Vector3	pa,
		Vector3	pb,
		Poly	curPoly
	)

The cost between two points may vary depending on the type of polygon.

Parameters

pa	Point A
pb	Point B
curPoly	Current polygon

Returns: Cost

Definition at line 74 of file NavMeshQuery.cs.

◆ GetEdgeMidPoint()

bool SharpNav.NavMeshQuery.GetEdgeMidPoint	(	int	from,
		Poly	fromPoly,
		MeshTile	fromTile,
		int	to,
		Poly	toPoly,
		MeshTile	toTile,
		ref Vector3	mid
	)

Get edge midpoint between two prolygons

Parameters

from	"From" polygon reference
fromPoly	"From" polygon data
fromTile	"From" mesh tile
to	"To" polygon reference
toPoly	"To" polygon data
toTile	"To" mesh tile
mid	Edge midpoint

Returns: True, if midpoint found. False, if otherwise.

Definition at line 1818 of file NavMeshQuery.cs.

◆ GetPolyHeight()

bool SharpNav.NavMeshQuery.GetPolyHeight	(	int	reference,
		Vector3	pos,
		ref float	height
	)

Return false if the provided position is outside the xz-bounds.

Parameters

reference	Polygon reference
pos	Current position
height	Resulting polygon height

Returns: True, if height found. False, if otherwise.

Definition at line 2210 of file NavMeshQuery.cs.

◆ GetPolyWallSegments()

bool SharpNav.NavMeshQuery.GetPolyWallSegments	(	int	reference,
		Crowds.LocalBoundary.Segment[]	segmentVerts,
		int[]	segmentRefs,
		ref int	segmentCount,
		int	maxSegments
	)

Collect all the edges from a polygon.

Parameters

reference	The polygon reference
segmentVerts	Segment vertices
segmentRefs	The polygon reference containing the segment
segmentCount	The number of segments stored
maxSegments	The maximum number of segments allowed

Returns: True, unless the polygon reference is invalid

Definition at line 1659 of file NavMeshQuery.cs.

◆ GetPortalPoints() [1/2]

bool SharpNav.NavMeshQuery.GetPortalPoints	(	int	from,
		int	to,
		ref Vector3	left,
		ref Vector3	right,
		ref PolygonType	fromType,
		ref PolygonType	toType
	)

Find points on the left and right side.

Parameters

from	"From" polygon reference
to	"To" polygon reference
left	Point on the left side
right	Point on the right side
fromType	Polygon type of "From" polygon
toType	Polygon type of "To" polygon

Returns: True, if points found. False, if otherwise.

Definition at line 1840 of file NavMeshQuery.cs.

◆ GetPortalPoints() [2/2]

bool SharpNav.NavMeshQuery.GetPortalPoints	(	int	from,
		Poly	fromPoly,
		MeshTile	fromTile,
		int	to,
		Poly	toPoly,
		MeshTile	toTile,
		ref Vector3	left,
		ref Vector3	right
	)

Find points on the left and right side.

Parameters

from	"From" polygon reference
fromPoly	"From" polygon data
fromTile	"From" mesh tile
to	"To" polygon reference
toPoly	"To" polygon data
toTile	"To" mesh tile
left	Resulting point on the left side
right	Resulting point on the right side

Returns: True, if points found. False, if otherwise.

Definition at line 1869 of file NavMeshQuery.cs.

◆ InitSlicedFindPath()

bool SharpNav.NavMeshQuery.InitSlicedFindPath	(	NavPoint	startPoint,
		NavPoint	endPoint
	)

Initialize a sliced path, which is used mostly for crowd pathfinding.

Parameters

startPoint	The start point.
endPoint	The end point.

Returns: True if path initialized, false otherwise

Definition at line 968 of file NavMeshQuery.cs.

◆ InsertInterval()

void SharpNav.NavMeshQuery.InsertInterval	(	SegInterval[]	ints,
		ref int	nints,
		int	maxInts,
		int	tmin,
		int	tmax,
		int	reference
	)

Insert a segment into the array

Parameters

ints	The array of segments
nints	The number of segments
maxInts	The maximium number of segments allowed
tmin	Parameter t minimum
tmax	Parameter t maximum
reference	Polygon reference

Definition at line 1779 of file NavMeshQuery.cs.

◆ MoveAlongSurface()

bool SharpNav.NavMeshQuery.MoveAlongSurface	(	NavPoint	startPoint,
		Vector3	endPos,
		ref Vector3	resultPos,
		List< int >	visited
	)

This method is optimized for small delta movement and a small number of polygons. If movement distance is too large, the result will form an incomplete path.

Parameters

startPoint	The start point.
endPos	End position
resultPos	Intermediate point
visited	Visited polygon references

Returns: True, if point found. False, if otherwise.

Definition at line 797 of file NavMeshQuery.cs.

◆ QueryPolygons()

bool SharpNav.NavMeshQuery.QueryPolygons	(	ref Vector3	center,
		ref Vector3	extent,
		List< int >	polys
	)

Finds nearby polygons within a certain range.

Parameters

center	The starting point
extent	The range to search within
polys	A list of polygons

Returns: True, if successful. False, if otherwise.

Definition at line 2321 of file NavMeshQuery.cs.

◆ UpdateSlicedFindPath()

bool SharpNav.NavMeshQuery.UpdateSlicedFindPath	(	int	maxIter,
		ref int	doneIters
	)

Update the sliced path as agents move across the path.

Parameters

maxIter	Maximum iterations
doneIters	Number of times iterated through

Returns: True if updated, false if not

Definition at line 1016 of file NavMeshQuery.cs.

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

C:/gamedev/unity/DA20.1X/Assets/CodeRespawn/DungeonArchitect/ThirdParty/SharpNav/NavMeshQuery.cs

Classes

Public Member Functions

Properties

Detailed Description

Constructor & Destructor Documentation

◆ NavMeshQuery() [1/2]

◆ NavMeshQuery() [2/2]

Member Function Documentation

◆ AppendPortals()

◆ AppendVertex()

◆ ClosestPointOnPoly() [1/2]

◆ ClosestPointOnPoly() [2/2]

◆ ClosestPointOnPolyBoundary()

◆ FinalizedSlicedPathPartial()

◆ FinalizeSlicedFindPath()

◆ FindLocalNeighbourhood()

◆ FindNearestPoly() [1/2]

◆ FindNearestPoly() [2/2]

◆ FindPath()

◆ FindRandomPoint() [1/2]

◆ FindRandomPoint() [2/2]

◆ FindRandomPointAroundCircle() [1/2]

◆ FindRandomPointAroundCircle() [2/2]

◆ FindRandomPointOnPoly() [1/2]

◆ FindRandomPointOnPoly() [2/2]

◆ FindStraightPath()

◆ GetCost()

◆ GetEdgeMidPoint()

◆ GetPolyHeight()

◆ GetPolyWallSegments()

◆ GetPortalPoints() [1/2]

◆ GetPortalPoints() [2/2]

◆ InitSlicedFindPath()

◆ InsertInterval()

◆ MoveAlongSurface()

◆ QueryPolygons()

◆ UpdateSlicedFindPath()