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Creating Routes

UNIGINE has a built-in pathfinding system that includes navigation areas, obstacles and functions of the PathRoute class that are used to calculate the optimal routes among obstacles within navigation areas.

Warning
3D navigation feature is experimental and not recommended for production use.

Via UnigineEditor, you can only add a navigation area (a sector or a mesh) to the scene and place obstacles. The 2D or 3D route that is calculated within the navigation area should be created from the code.

Creating a Route within Navigation Area#

To create a route within a navigation area, in which no obstacles are placed, you can use the following:

Source code (C++)
// declare points between which a route should be calculated
Unigine::Math::Vec3 p0 = Unigine::Math::Vec3(-60.0f, -60.0f, 5.0f);
Unigine::Math::Vec3 p1 = Unigine::Math::Vec3(60.0f, 60.0f, 5.0f);
Source code (C++)
// create a new route
route = PathRoute::create();
// set a radius for the point which will move along the route
route->setRadius(1.2f);
Source code (C++)
// create a 3D route
route->create3D(p0,p1);
Notice
You can create a 2D route the same way by calling the create2D() function.

To visualize the calculated route, call the renderVisualizer() function of the PathRoute class:

Source code (C++)
route->renderVisualizer(vec4(1.0f));

To visualize the navigation area, call the renderVisualizer() functions of the Node class:

Source code (C++)
sector->renderVisualizer();
Notice
You should enable the engine visualizer by calling Visualizer::setEnabled(1);

You can affect route calculation via UnigineEditor by adjusting parameters of the navigation sector or mesh.

Creating a Route within Navigation Area with Obstacles#

Creating the route within a navigation area with obstacles is similar to creating the route within an empty navigation area. Moreover, the route will be recalculated if the obstacle changes its transformation.

If the obstacle is connected with a dynamically changing node that should be bypassed, this node should be set as a parent node for the obstacle. This will enable simultaneous changing transformation of the node and the obstacle. For example:

Source code (C++)
#ifndef __APP_WORLD_LOGIC_H__
#define __APP_WORLD_LOGIC_H__

#include <UnigineLogic.h>
#include <UnigineStreams.h>
#include <UnigineObjects.h>
#include <UniginePathFinding.h>

class AppWorldLogic : public Unigine::WorldLogic
{

public:
	AppWorldLogic();
	virtual ~AppWorldLogic();

	int init() override;

	int update() override;
	int postUpdate() override;
	int updatePhysics() override;

	int shutdown() override;

	int save(const Unigine::StreamPtr &stream) override;
	int restore(const Unigine::StreamPtr &stream) override;

private:

	// declare the required variables
	Unigine::ObstacleBoxPtr box;
	Unigine::ObjectMeshStaticPtr mesh;
	Unigine::PathRoutePtr route;

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

};

#endif // __APP_WORLD_LOGIC_H__
Source code (C++)
#include "AppWorldLogic.h"
#include <UnigineEditor.h>
#include <UnigineGame.h>
#include <UnigineVisualizer.h>
#include <UnigineLog.h>

using namespace Unigine;
using namespace Math;

// World logic, it takes effect only when the world is loaded.
// These methods are called right after corresponding world script's (UnigineScript) methods.

AppWorldLogic::AppWorldLogic()
{
}

AppWorldLogic::~AppWorldLogic()
{
}

int AppWorldLogic::init()
{
	// enable the engine visualizer
	Visualizer::setEnabled(1);

	// create a navigation sector within which pathfinding will be performed
	NavigationSectorPtr navigation = NavigationSector::create(vec3(128.0f, 128.0f, 8.0f));
	navigation->setWorldTransform(translate(Vec3(1.0f, 1.0f, 5.0f)));

	// create a mesh by adding a box surface to it
	MeshPtr mesh_0 = Mesh::create();
	mesh_0->addBoxSurface("box_surface", vec3(1.0f));

	// create the ObjectMeshStatic that should be bypassed
	mesh = ObjectMeshStatic::create(mesh_0);
	mesh->setPosition(Vec3(2.0f, 2.2f, 1.5f));
	mesh->setScale(vec3(2.0f, 2.0f, 2.0f));

	// create an obstacle
	box = ObstacleBox::create(vec3(1.2f, 1.2f, 1.2f));
	box->setPosition(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 = PathRoute::create();
	// set a radius for the point which will move along the route
	route->setRadius(1.2f);

	return 1;
}

////////////////////////////////////////////////////////////////////////////////
// start of the main loop
////////////////////////////////////////////////////////////////////////////////

int AppWorldLogic::update()
{
	// get the frame duration
	float ifps = Game::getIFps();
	// and define the angle of the object's rotation
	float angle = ifps * 90.0f;

	// change transformation of the mesh
	mesh->setTransform(mesh->getTransform() * Mat4(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);
	if (route->isReached()) route->renderVisualizer(vec4(1.0f));
	else Log::message("PathRoute failed"); 
	
	return 1;
}

int AppWorldLogic::postUpdate()
{
	// The engine calls this function after updating each render frame: correct behavior after the state of the node has been updated.
	return 1;
}

int AppWorldLogic::updatePhysics()
{
	// Write here code to be called before updating each physics frame: control physics in your application and put non-rendering calculations.
	// The engine calls updatePhysics() with the fixed rate (60 times per second by default) regardless of the FPS value.
	// WARNING: do not create, delete or change transformations of nodes here, because rendering is already in progress.
	return 1;
}

////////////////////////////////////////////////////////////////////////////////
// end of the main loop
////////////////////////////////////////////////////////////////////////////////

int AppWorldLogic::shutdown()
{
	// Write here code to be called on world shutdown: delete resources that were created during world script execution to avoid memory leaks.
	return 1;
}

int AppWorldLogic::save(const Unigine::StreamPtr &stream)
{
	// Write here code to be called when the world is saving its state (i.e. state_save is called): save custom user data to a file.
	UNIGINE_UNUSED(stream);
	return 1;
}

int AppWorldLogic::restore(const Unigine::StreamPtr &stream)
{
	// Write here code to be called when the world is restoring its state (i.e. state_restore is called): restore custom user data to a file here.
	UNIGINE_UNUSED(stream);
	return 1;
}
Notice
In the example above, the route is recalculated each frame. However, it is non-optimal for application performance. You can calculate the route, for example, once per 10 frames.

In the result, you will have a simple navigation sector, in which the dynamically changing obstacle box is placed.

Here the obstacle is highlighted with red
Last update: 2022-04-20
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