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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.

Notice
To 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.

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.
    Notice
    You should enable the engine visualizer by the show_visualizer 1 console command.

    Arguments

    • const Math::vec4 & color - Route color.
    Last update: 27.12.2018