Creating Routes

// AppWorldLogic.cs

using Unigine;

#if UNIGINE_DOUBLE
using Vec3 = Unigine.dvec3;
using Vec4 = Unigine.dvec4;
using Mat4 = Unigine.dmat4;
#else
	using Vec3 = Unigine.vec3;
	using Vec4 = Unigine.vec4;
	using Mat4 = Unigine.mat4;
#endif

namespace UnigineApp
{
    class AppWorldLogic : WorldLogic
    {

        // declare the required variables
        ObstacleBox box;
        ObjectMeshStatic mesh;
        PathRoute route;

        // declare points between which a route should be calculated
        Vec3 p0 = new Vec3(-60.0f, -60.0f, 5.0f);
        Vec3 p1 = new Vec3(60.0f, 60.0f, 5.0f);

        public override bool Init()
        {

            // enable the engine visualizer
            Visualizer.Enabled = true;

            // create a navigation sector within which pathfinding will be performed
            NavigationSector navigation = new NavigationSector(new vec3(128.0f, 128.0f, 8.0f));
            navigation.WorldTransform = MathLib.Translate(new Vec3(1.0f, 1.0f, 5.0f));

            // create a mesh by adding a box surface to it
            Mesh mesh_0 = new Mesh();
            mesh_0.AddBoxSurface("box_surface", new vec3(1.0f));
            // create the ObjectMeshStatic that should be bypassed
            mesh = new ObjectMeshStatic(mesh_0);

            mesh.SetMaterial("mesh_base", "*");
            mesh.Position = new Vec3(2.0f, 2.2f, 1.5f);
            mesh.Scale = new vec3(2.0f, 2.0f, 2.0f);

            // create an obstacle
            box = new ObstacleBox(new vec3(1.2f, 1.2f, 1.2f));

            box.Position = new Vec3(0.0f, 0.0f, 0.0f);
            // add the obstacle as the child node to the mesh in order to change their transformation simultaneously
            mesh.AddChild(box);

            // create a new route
            route = new PathRoute();
            // set a radius for the point which will move along the route
            route.Radius = 1.2f;

            return true;
        }

        public override bool Update()
        {
            // get the frame duration
            float ifps = Engine.ifps;
            // and define the angle of the object's rotation
            float angle = ifps * 90.0f;

            // change transformation of the mesh
            mesh.Transform = mesh.Transform * new Mat4(MathLib.RotateZ(angle));
            // render the bounding box of the obstacle
            box.RenderVisualizer();

            // recalculate the route in the current frame and render its visualizer
            route.Create2D(p0, p1);
            route.RenderVisualizer(new vec4(1.0f));

            return true;
        }
    }
}