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# PathRoute Class

This class calculates the shortest 2D or 3D route around the obstacles within connected navigation areas and sets the size and velocity of the point moving along this route.

- In case of
**2D**route, a point moves in the lower plane of the navigation area. The Z coordinate is not taken into account when calculating the 2D route. The height and radius values set for the point via the*setHeight()*and*setRadius()*functions are used to check whether the navigation area can take part in pathfinding: if the height or radius set for the point is greater than the size of the navigation area, such navigation area will be discarded. If the height difference between the connected areas exceeds the maximum height, the navigation area is also discarded from calculations. - In case of
**3D**route (available only for navigation sectors), a point moves in 3 dimensions. The radius set for the point via the*setRadius()*function is used to check whether the navigation sector can take part in pathfinding: if the radius set for the point is greater than the size of the navigation sector, it will be discarded. Also the point cannot rise up higher than maximum height set for the navigation sector.

Functions of the PathRoute class enable to ignore the specified navigation areas and obstacles. Also the maximum time acceptable to get to the destination point and the maximum danger factor can be limited as well.

To choose between navigation areas, A* algorithm is used.

There is no connection between functions of the

*PathRoute*class and functions of the*Path*class.## PathRoute Class

### Members

## PathRoute (float radius = 0.0f)

Constructor. Creates a new 2D or 3D route. The radius is used to check whether the point can move inside a navigation area or this navigation area should be excluded from pathfinding.### Arguments

*float*- Radius of the point moving along the route.**radius**

## void addExcludeNavigation (Node navigation)

Sets a navigation sector or a navigation mesh to be ignored during pathfinding. Excluded sectors/meshes are added into the list.### Arguments

*Node*- A navigation area to be ignored.**navigation**

## void addExcludeObstacle (Node obstacle)

Sets an obstacle to be ignored during pathfinding. Excluded obstacles are added into the list.### Arguments

*Node*- An obstacle to be ignored.**obstacle**

## void create2D (vec3 p0, vec3 p1, int delay = 0)

Calculates a 2D route between the given points with the specified delay.### Arguments

*vec3*- The starting point.**p0***vec3*- The destination point.**p1***int*- The number of frames which is possible to delay pathfinding calculations.**delay****0**means the pathfinding should be calculated immediately.

## void create3D (vec3 p0, vec3 p1, int delay = 0)

Calculates a 3D route between the given points with the specified delay.### Arguments

*vec3*- The starting point.**p0***vec3*- The destination point.**p1***int*- The number of frames which is possible to delay pathfinding calculations.**delay****0**means the pathfinding should be calculated immediately.

## float getDangerous ()

Returns the highest danger factor of the navigation areas met along the route.### Return value

Highest danger factor## float getDistance ()

Returns the length of the route.### Return value

Distance in units.## void getExcludeNavigations (int exclude_navigations = [])

Returns the list of navigation sectors and navigation meshes excluded from pathfinding.### Arguments

*int*- Array to store the excluded navigation areas.**exclude_navigations**

## void getExcludeObstacles (int obstacles = [])

Returns the list of obstacles ignored during pathfinding.### Arguments

*int*- Array to store the ignored obstacles.**obstacles**

## float getHeight ()

Returns the current height that is required to move the point along the 2D route inside the navigation area.### Return value

Height that is required to move the point inside the navigation area. If the returned height exceeds the height of the navigation area, the point will not move inside it.## Obstacle getIntersection (PathRouteIntersection intersection = 0)

Returns the first intersected obstacle.### Arguments

*PathRouteIntersection*- PathRouteIntersection node.**intersection**

### Return value

Intersected obstacle.## float getMaxAngle ()

Returns cosine of the maximum possible angle between navigation mesh polygons. For example, this option enables to exclude walls when calculating a valid route.### Return value

Maximum angle cosine.## float getMaxDangerous ()

Returns the maximum danger factor acceptable for moving along this route. If the navigation areas have a higher danger factor, the point will not move along it.### Return value

Maximum danger factor.## float getMaxHeight ()

Returns the current maximum height difference between the connected navigation areas acceptable when finding the 2D route. In case of the 3D route, it is the maximum height the point can move up to.### Return value

Maximum height.## float getMaxTime ()

Returns the current maximum time for reaching the destination point. If the route takes longer, the point will not move along it.### Return value

Maximum movement time.## int getNavigationMask ()

Returns the current navigation mask. The navigation mask of the navigation area must match the navigation mask of the route that is calculated within it. Otherwise, the area will not participate in pathfinding.### Return value

An integer value, each bit of which is used to set a mask.## Navigation getNavigation (int num)

Returns the navigation sector or mesh within which the specified route point is located.### Arguments

*int*- Point number.**num**

### Return value

Navigation sector or navigation mesh.## int getNumPoints ()

Returns the number of turning points along the route.### Return value

The number of points.## int getObstacleMask ()

Returns the current obstacle mask. The obstacle is taken into account if its obstacle mask matches the obstacle mask of the route.### Return value

An integer value, each bit of which is used to set a mask.## Obstacle getObstacle (int num)

Returns the obstacle around which the route is turning.### Arguments

*int*- Point number.**num**

### Return value

Obstacle.## vec3 getPoint (int num)

Returns the coordinates of the turning point in the route.### Arguments

*int*- Point number.**num**

### Return value

Point coordinates.## float getRadius ()

Returns the current radius that is required to move the point along the route inside the navigation area.### Return value

Radius that is required to move the point inside the navigation area. If the returned radius exceeds the size of the navigation area, the point will not move inside it.## float getTime ()

Returns the time that is required for the point to move along the route.### Return value

Time in seconds.## float getVelocity ()

Returns the current velocity of the point moving along the route.### Return value

Velocity of the point that moves along the route.## int isQueued ()

Returns a value indicating that a route is queued to be calculated.### Return value

**1**if the route is queued; otherwise,

**0**.

## int isReached ()

Returns a value indicating that a destination point of the route is reached.### Return value

**1**if the destination point is reached; otherwise,

**0**.

## int isReady ()

Returns a value indicating that a route is calculated.### Return value

**1**if the route is calculated; otherwise,

**0**.

## void removeExcludeNavigation (Node navigation)

Removes a navigation sector or a navigation mesh from the list of ignored ones during pathfinding.### Arguments

*Node*- A navigation area.**navigation**

## void removeExcludeObstacle (Node obstacle)

Removes an obstacle from the list of ignored ones during pathfinding.### Arguments

*Node*- An obstacle.**obstacle**

## void renderVisualizer (vec4 color)

Renders the route in a given color.You should enable the engine visualizer by the

**show_visualizer 1**console command.### Arguments

*vec4*- Route color.**color**

## void setExcludeNavigations (int navigations = [])

Sets the list of navigation sectors and navigation meshes to be ignored during pathfinding.### Arguments

*int*- Array of the ignored navigation areas.**navigations**

## void setExcludeObstacles (int obstacles = [])

Sets the list of obstacles to be ignored during pathfinding.### Arguments

*int*- Array of the ignored obstacles.**obstacles**

## void setHeight (float height)

Sets the height that is required to move the point along the 2D route inside the navigation area. If the specified height exceeds the height of the navigation area, the point will not move inside it.### Arguments

*float*- Height that is required to move the point inside the navigation area. If a negative value is provided,**height****0**will be used instead.

## void setMaxAngle (float angle)

Sets cosine of the maximum possible angle between navigation mesh polygons. For example, this option enables to exclude walls when calculating a valid route.### Arguments

*float*- Maximum angle cosine.**angle**

## void setMaxDangerous (float dangerous)

Sets the maximum danger factor acceptable for moving along this route. If the navigation areas have a higher danger factor, the point will not move along it.### Arguments

*float*- Maximum danger factor.**dangerous**

## void setMaxHeight (float height)

Sets the maximum height difference between the connected navigation areas acceptable when finding the 2D route. In case of the 3D route, it is the maximum height the point can move up to.### Arguments

*float*- Maximum height.**height**

## void setMaxTime (float time)

Sets the maximum time for reaching the destination point. If the route takes longer, the point will not move along it.### Arguments

*float*- Maximum movement time.**time**

## void setNavigationMask (int mask)

Sets the navigation mask. The navigation mask of the navigation area must match the navigation mask of the route that is calculated within it. Otherwise, the area will not participate in pathfinding.### Arguments

*int*- An integer value, each bit of which is used to set a mask.**mask**

## void setObstacleMask (int mask)

Sets the obstacle mask. The obstacle is taken into account if its obstacle mask matches the obstacle mask of the route.### Arguments

*int*- An integer value, each bit of which is used to set a mask.**mask**

## void setRadius (float radius)

Sets the radius that is required to move the point along the route inside the navigation area. If the specified radius exceeds the size of the navigation area, the point will not move inside it.### Arguments

*float*- Radius that is required to move the point inside the navigation area. If a negative value is provided,**radius****0**will be used instead.

## void setVelocity (float velocity)

Sets the velocity of the point that moves along the route.### Arguments

*float*- Velocity of the point that moves along the route.**velocity**

Last update: 2017-07-03

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