Unigine::PathRoute Class

Header:

#include <UniginePathFinding.h>

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 the 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.

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

Warning
					This feature is experimental and not recommended for production use.
There is no connection between functions of the PathRoute class and functions of the Path class.

				

Methods:

Name	Description View: Sort by:
*create*	Constructor.
getDangerous	Returns the highest danger factor of the navigation areas met along the route.
getDistance	Returns the length of the route.
setExcludeNavigations	Sets the list of navigation sectors and navigation meshes to be ignored during pathfinding.
getExcludeNavigations	Returns the list of navigation sectors and navigation meshes excluded from pathfinding.
setExcludeObstacles	Sets the list of obstacles to be ignored during pathfinding.
getExcludeObstacles	Returns the list of obstacles ignored during pathfinding.
setHeight	Sets the height that is required to move the point along the 2D route inside the navigation area.
getHeight	Returns the current height that is required to move the point along the 2D route inside the navigation area.
getIntersection	Returns the first intersected obstacle.
setMaxAngle	Sets cosine of the maximum possible angle between navigation mesh polygons.
getMaxAngle	Returns cosine of the maximum possible angle between navigation mesh polygons.
setMaxDangerous	Sets the maximum danger factor acceptable for moving along this route.
getMaxDangerous	Returns the maximum danger factor acceptable for moving along this route.
setMaxHeight	Sets the maximum height difference between the connected navigation areas acceptable when finding the 2D route.
getMaxHeight	Returns the current maximum height difference between the connected navigation areas acceptable when finding the 2D route.
setMaxTime	Sets the maximum time for reaching the destination point.
getMaxTime	Returns the current maximum time for reaching the destination point.
getNavigation	Returns the navigation sector or mesh within which the specified route point is located.
setNavigationMask	Sets the navigation mask.
getNavigationMask	Returns the current navigation mask.
getNumPoints	Returns the number of turning points along the route.
getObstacle	Returns the obstacle around which the route is turning.
setObstacleMask	Sets the obstacle mask.
getObstacleMask	Returns the current obstacle mask.
getPoint	Returns the coordinates of the turning point in the route.
isQueued	Returns a value indicating that a route is queued to be calculated.
setRadius	Sets the radius that is required to move the point along the route inside the navigation area.
getRadius	Returns the current radius that is required to move the point along the route inside the navigation area.
isReached	Returns a value indicating that a destination point of the route is reached.
isReady	Returns a value indicating that a route is calculated.
getTime	Returns the time that is required for the point to move along the route.
setVelocity	Sets the velocity of the point that moves along the route.
getVelocity	Returns the current velocity of the point moving along the route.
addExcludeNavigation	Sets a navigation sector or a navigation mesh to be ignored during pathfinding.
addExcludeObstacle	Sets an obstacle to be ignored during pathfinding.
create2D	Calculates a 2D route between the given points with the specified delay.
create3D	Calculates a 3D route between the given points with the specified delay.
removeExcludeNavigation	Removes a navigation sector or a navigation mesh from the list of ignored ones during pathfinding.
removeExcludeObstacle	Removes an obstacle from the list of ignored ones during pathfinding.
renderVisualizer	Renders the route in a given color.

PathRoute Class

Members

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.

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 setExcludeNavigations( const Vector< Ptr<Node> > & exclude_navigations )

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.

Vector< Ptr<Node> > getExcludeNavigations( )

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

Arguments

Return value

Container to store the result.

void setExcludeObstacles( 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.

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

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.

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

Returns the first intersected obstacle.

Arguments

const Ptr<PathRouteIntersection> & intersection - PathRouteIntersection node.

Return value

Intersected obstacle.

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 angle - Maximum angle cosine.

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.

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 dangerous - Maximum danger factor.

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.

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 height - Maximum height.

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.

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 time - Maximum movement time.

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.

Ptr<Navigation> getNavigation( int num )

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

Arguments

int num - Point number.

Return value

Navigation sector or navigation mesh.

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

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.

int getNumPoints( )

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.

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

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.

Math::Vec3 getPoint( int num )

Returns the coordinates of the turning point in the route.

Arguments

int num - Point number.

Return value

Point coordinates.

int isQueued( )

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

Return value

1 if the route is queued; otherwise, 0.

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

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.

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.

float getTime( )

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

Return value

Time in seconds.

void setVelocity( 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.

float getVelocity( )

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

Return value

Velocity of the point that moves along the route.

void addExcludeNavigation( const Ptr<Node> & navigation )

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.

void addExcludeObstacle( const Ptr<Node> & obstacle )

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.

void create2D( 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.

void create3D( 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.

void removeExcludeNavigation( const Ptr<Node> & navigation )

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

Arguments

const Ptr<Node> & navigation - A navigation area.

void removeExcludeObstacle( const Ptr<Node> & obstacle )

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

Arguments

const Ptr<Node> & obstacle - An obstacle.

void renderVisualizer( const Math::vec4 & color )

Renders the route in a given color.

NoticeYou should enable the engine visualizer by the show_visualizer 1 console command.

Arguments

const Math::vec4 & color - Route color.

Last update: 27.12.2018

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