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# Unigine::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() andsetRadius() 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 thanmaximum 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.

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

Warning
There is no connection between functions of the PathRoute class and functions of the Path class.

## static PathRoutePtr create(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 - Radius of the point moving along the route.

## floatgetDangerous()

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

### Return value

Highest danger factor

## floatgetDistance()

Returns the length of the route.

### Return value

Distance in units.

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

### Arguments

• const Vector< Ptr<Node> > & exclude_navigations - Array of the ignored navigation areas.

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

### Return value

Container to store the result.

## voidsetExcludeObstacles(const Vector< Ptr<Node> > & obstacles)

Sets the list of obstacles to be ignored during pathfinding.

### Arguments

• const Vector< Ptr<Node> > & obstacles - Array of the ignored obstacles.

## Vector< Ptr<Node> >getExcludeObstacles()

Returns the list of obstacles ignored during pathfinding.

### Return value

Container for obstacles.

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

## floatgetHeight()

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.

## Ptr<Obstacle>getIntersection(const Ptr<PathRouteIntersection> & intersection)

Returns the first intersected obstacle.

### Arguments

• const Ptr<PathRouteIntersection> & intersection - PathRouteIntersection node.

### Return value

Intersected obstacle.

## voidsetMaxAngle(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 angle - Maximum angle cosine.

## floatgetMaxAngle()

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.

## voidsetMaxDangerous(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 dangerous - Maximum danger factor.

## floatgetMaxDangerous()

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.

## voidsetMaxHeight(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 height - Maximum height.

## floatgetMaxHeight()

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.

## voidsetMaxTime(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 time - Maximum movement time.

## floatgetMaxTime()

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.

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

### Arguments

• int num - Point number.

### Arguments

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

### Return value

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

## intgetNumPoints()

Returns the number of turning points along the route.

### Return value

The number of points.

## Ptr<Obstacle>getObstacle(int num)

Returns the obstacle around which the route is turning.

### Arguments

• int num - Point number.

### Return value

Obstacle.

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

### Arguments

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

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.

## Math::Vec3getPoint(int num)

Returns the coordinates of the turning point in the route.

### Arguments

• int num - Point number.

### Return value

Point coordinates.

## intisQueued()

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

### Return value

1 if the route is queued; otherwise, 0.

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

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.

## intisReached()

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

### Return value

1 if the destination point is reached; otherwise, 0.

Returns a value indicating that a route is calculated.

### Return value

1 if the route is calculated; otherwise, 0.

## floatgetTime()

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

### Return value

Time in seconds.

## voidsetVelocity(float velocity)

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

### Arguments

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

## floatgetVelocity()

Returns the current velocity of the point moving along the route.

### Return value

Velocity of the point that moves along the route.

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

### Arguments

• const Ptr<Node> & navigation - A navigation area to be ignored.

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

### Arguments

• const Ptr<Node> & obstacle - An obstacle to be ignored.

## voidcreate2D(const Math::Vec3 & p0, const Math::Vec3 & p1, int delay = 0)

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

### Arguments

• const Math::Vec3 & p0 - The starting point.
• const Math::Vec3 & p1 - The destination point.
• int delay - The number of frames which is possible to delay pathfinding calculations. 0 means the pathfinding should be calculated immediately.

## voidcreate3D(const Math::Vec3 & p0, const Math::Vec3 & p1, int delay = 0)

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

### Arguments

• const Math::Vec3 & p0 - The starting point.
• const Math::Vec3 & p1 - The destination point.
• int delay - The number of frames which is possible to delay pathfinding calculations. 0 means the pathfinding should be calculated immediately.

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

## voidremoveExcludeObstacle(const Ptr<Node> & obstacle)

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

### Arguments

• const Ptr<Node> & obstacle - An obstacle.

## voidrenderVisualizer(const Math::vec4 & color)

Renders the route in a given color.
Notice
You should enable the engine visualizer by the show_visualizer 1 console command.

### Arguments

• const Math::vec4 & color - Route color.
Last update: 2017-07-03