LocalSpaceRichAI Class Reference

RichAI for local space (pathfinding on moving graphs). More...

Detailed Description

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 Member Functions
override void	UpdatePath ()
	Force recalculation of the current path.
Public Member Functions inherited from RichAI
void	Teleport (Vector3 newPosition)
	Instantly moves the agent to the target position.

Public Attributes
LocalSpaceGraph	graph
	Root of the object we are moving on.
Public Attributes inherited from RichAI
float	acceleration = 5
	Max acceleration of the agent.
Animation	anim
float	endReachedDistance = 0.01f
	Max distance to the endpoint to consider it reached.
bool	funnelSimplification = false
	Use funnel simplification.
float	maxSpeed = 1
	Max speed of the agent.
float	repathRate = 0.5f
	Delay (seconds) between path searches.
bool	repeatedlySearchPaths = false
	Search for new paths repeatedly.
float	rotationSpeed = 360
	Max rotation speed of the agent.
float	slowdownTime = 0.5f
	How long before reaching the end of the path to start to slow down.
bool	slowWhenNotFacingTarget = true
	Slow down when not facing the target direction.
Transform	target
	Target position to move to.
float	wallDist = 1
	Walls within this range will be used for avoidance.
float	wallForce = 3
	Force to avoid walls with.
Public Attributes inherited from AIBase
float	centerOffset = 1
	Offset along the Y coordinate for the ground raycast start position.
Vector3	gravity = new Vector3(float.NaN, float.NaN, float.NaN)
	Gravity to use.
LayerMask	groundMask = -1
	Layer mask to use for ground placement.

Protected Member Functions
override void	Start ()
	Starts searching for paths.
override void	Update ()
	Called every frame.
Protected Member Functions inherited from RichAI
void	CancelCurrentPathRequest ()
override Vector3	ClampToNavmesh (Vector3 position)
	Constrains the character's position to lie on the navmesh.
override void	MovementUpdate (float deltaTime)
	Called during either Update or FixedUpdate depending on if rigidbodies are used for movement or not.
void	NextPart ()
	Declare that the AI has completely traversed the current part.
virtual void	OnDisable ()
	Called when the component is disabled.
override void	OnDrawGizmos ()
virtual void	OnEnable ()
	Called when the component is enabled.
virtual void	OnTargetReached ()
	Called when the end of the path is reached.
virtual IEnumerator	TraverseSpecial (RichSpecial rs)
virtual Vector3	UpdateTarget (RichFunnel fn)
Protected Member Functions inherited from AIBase
void	ApplyGravity (float deltaTime)
override void	Awake ()
	Initializes reference variables.
Vector2	CalculateDeltaToMoveThisFrame (Vector2 position, float distanceToEndOfPath, float deltaTime)
virtual void	FixedUpdate ()
	Called every physics update.
void	Move (Vector3 position3D, Vector3 deltaPosition)
Vector3	RaycastPosition (Vector3 position, float lastElevation)
	Find the world position of the ground below the character.
virtual void	RotateTowards (Vector2 direction, float maxDegrees)
	Rotates in the specified direction.
Protected Member Functions inherited from VersionedMonoBehaviour
virtual int	OnUpgradeSerializedData (int version)
	Handle serialization backwards compatibility.

Private Member Functions
void	RefreshTransform ()

Additional Inherited Members
Protected Attributes inherited from RichAI
bool	canSearchPath
bool	delayUpdatePath
float	distanceToWaypoint = float.PositiveInfinity
bool	lastCorner
float	lastRepath = float.NegativeInfinity
readonly List< Vector3 >	nextCorners = new List<Vector3>()
Vector3	prevPosition = new Vector3(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity)
	Position of the agent at the end of the previous frame.
Vector3	realVelocity
	Current velocity of the agent.
readonly RichPath	richPath = new RichPath()
	Holds the current path that this agent is following.
bool	traversingSpecialPath
bool	waitingForPathCalc
readonly List< Vector3 >	wallBuffer = new List<Vector3>()
Static Protected Attributes inherited from RichAI
static readonly Color	GizmoColorPath = new Color(8.0f/255, 78.0f/255, 194.0f/255)
Properties inherited from RichAI
bool	ApproachingPartEndpoint [get]
	True if approaching the last waypoint in the current part of the path.
bool	ApproachingPathEndpoint [get]
	True if approaching the last waypoint of all parts in the current path.
float	DistanceToNextWaypoint [get]
	Distance to the next waypoint.
Vector3	NextWaypoint [get]
	Waypoint that the agent is moving towards.
bool	PathPending [get]
	True if a path to the target is currently being calculated.
Vector3	TargetPoint [get]
	Current waypoint that the agent is moving towards.
bool	TargetReached [get]
	True if the agent is within endReachedDistance units from the end of the current path.
bool	TraversingSpecial [get]
Vector3	Velocity [get]
	Current velocity of the agent.

Member Function Documentation

void RefreshTransform ( )

private

override void Start ( )

protectedvirtual

Starts searching for paths.

If you override this function you should in most cases call base.Start () at the start of it.

See Also

Init

SearchPaths

Reimplemented from RichAI.

override void Update ( )

protectedvirtual

Called every frame.

If no rigidbodies are used then all movement happens here

Reimplemented from AIBase.

override void UpdatePath ( )

virtual

Force recalculation of the current path.

If there is an ongoing path calculation, it will be canceled (so make sure you leave time for the paths to get calculated before calling this function again).

See Also

Seeker.IsDone

Reimplemented from RichAI.

Member Data Documentation

LocalSpaceGraph graph

Root of the object we are moving on.

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

• /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/ExampleScenes/Example13_Moving/LocalSpaceRichAI.cs