NavAI.Obstacle

Inherits MonoBehaviour.

Inherited by NavAI.CircleObstacle, NavAI.PolygonObstacle, and NavAI.RectangleObstacle.

Public Types
enum	CarveType { CarveType.CarveHeightmap, CarveType.CarveTriangulation, CarveType.DontCarve, CarveType.IgnoreObstacle }
enum	ObstacleType { ObstacleType.Static, ObstacleType.Dynamic }

Public Member Functions
abstract void	Draw (Color color)
abstract Vector3 []	GetWorldPolygon ()
abstract void	GetWorldPolygon (System.Collections.Generic.IList< Vector3 > polygon)
abstract void	GetWorldPolygon (Vector3[] polygon)
abstract Vector2 []	GetZonePolygon ()
abstract void	GetZonePolygon (System.Collections.Generic.IList< Vector2 > polygon)
abstract void	GetZonePolygon (Vector2[] polygon)
virtual void	Load (NavigationZone zone=null)

Protected Attributes
bool	carveOnlyStationary
CarveType	carveType
float	localAngle
float	localCos
Vector2	localPosition
float	localRadius
Vector2	localScale
float	localSin
float	moveThreshold
int	noVertices
float	timeToStationary
ObstacleType	type
float	zoneAngle
float	zoneCos
Vector2	zonePosition
Vector2	zoneScale
float	zoneSin

Properties
bool	CarveHeightMap [get]
bool	CarveOnlyStationary [get, protected set]
bool	CarveTriangulation [get]
bool	Dirty [get, set]
bool	DontCarve [get]
bool	IgnoreObstacle [get]
bool	IsActive [get]
bool	IsCarved [get]
bool	IsDynamic [get]
bool	IsStatic [get]
bool	IsStationary [get]
float	LocalAngle [get]
Vector2	LocalPosition [get]
Vector2	LocalScale [get]
float	MoveThreshold [get, protected set]
int	NoVertices [get, protected set]
CarveType	ObstCarveType [get, protected set]
ObstacleType	ObstType [get, protected set]
float	SqrMoveThreshold [get]
abstract Vector2	this[int i] [get]
float	TimeToStationary [get, protected set]
float	WorldAngle [get]
Vector3	WorldPosition [get]
float	WorldRadius [get]
Vector3	WorldScale [get]
NavigationZone	Zone [get, set]
float	ZoneAngle [get]
Vector2	ZonePosition [get]
float	ZoneRadius [get]
Vector2	ZoneScale [get]

Member Enumeration Documentation

CarveType

enum NavAI.Obstacle.CarveType

strong

Carve type of the obstacle.

Enumerator
CarveHeightmap	Obstacle is carved on the heightmap. This option will create a navmesh surface over the obstacle. Dynamic obstacles cannot carve the heightmap.
CarveTriangulation	Obstacle is carved on the triangulation. The triangulation is used for pathfinding and other systems.
DontCarve	Obstacle is not carved on the triangulation. Agents will avoid the obstacle using local collision avoidance only.
IgnoreObstacle	Obstacle will be completely ignored by the navigation algorithms.

ObstacleType

enum NavAI.Obstacle.ObstacleType

strong

Type of obstacle according to how it is treated by the mesh.

Enumerator
Static	Obstacle transform and properties cannot be changed at runtime.
Dynamic	Obstacle transform and properties can be changed at runtime.

Member Function Documentation

Draw()

abstract void NavAI.Obstacle.Draw ( Color  color )

pure virtual

Draws the obstacle collider.

Parameters

color

Material color.

Implemented in NavAI.CircleObstacle, NavAI.PolygonObstacle, and NavAI.RectangleObstacle.

GetWorldPolygon() [1/3]

abstract Vector3 [] NavAI.Obstacle.GetWorldPolygon ( )

pure virtual

Gets the obstacle collider polygon in the world space.

Returns

An array with the collider vertices.

Implemented in NavAI.CircleObstacle, NavAI.PolygonObstacle, and NavAI.RectangleObstacle.

GetWorldPolygon() [2/3]

abstract void NavAI.Obstacle.GetWorldPolygon ( System.Collections.Generic.IList< Vector3 >  polygon )

pure virtual

Gets the obstacle collider polygon in the world space.

Parameters

polygon

A list to be filled with the collider vertices. The list must have write permission.

GetWorldPolygon() [3/3]

abstract void NavAI.Obstacle.GetWorldPolygon ( Vector3 []  polygon )

pure virtual

Gets the obstacle colider polygon in the world space.

Parameters

polygon

An array to be filled with the collider vertices. Array length must match the number of vertices of the obstacle.

Implemented in NavAI.CircleObstacle, NavAI.PolygonObstacle, and NavAI.RectangleObstacle.

GetZonePolygon() [1/3]

abstract Vector2 [] NavAI.Obstacle.GetZonePolygon ( )

pure virtual

Gets the obstacle collider polygon in it's zone local space.

Returns

An array containg the collider vertices.

Implemented in NavAI.CircleObstacle, NavAI.PolygonObstacle, and NavAI.RectangleObstacle.

GetZonePolygon() [2/3]

abstract void NavAI.Obstacle.GetZonePolygon ( System.Collections.Generic.IList< Vector2 >  polygon )

pure virtual

Gets the obstacle collider polygon in it's zone local space.

Parameters

polygon

A list to be filled with the collider vertices. The list must have write permission.

GetZonePolygon() [3/3]

abstract void NavAI.Obstacle.GetZonePolygon ( Vector2 []  polygon )

pure virtual

Gets the obstacle colider polygon in it's zone local space.

Parameters

polygon

An array to be filled with the collider vertices. Array length must match the number of vertices of the obstacle.

Implemented in NavAI.CircleObstacle, NavAI.PolygonObstacle, and NavAI.RectangleObstacle.

Load()

virtual void NavAI.Obstacle.Load ( NavigationZone  zone = null )

virtual

Loads the obstacle runtime variables.

Parameters

zone	Zone the obstacle is in.

This method is used internally to load the obstacle when it adquires a new zone, and also by the editor inspectors. There is no need for the user to use this function.

Reimplemented in NavAI.CircleObstacle.

Member Data Documentation

carveOnlyStationary

bool NavAI.Obstacle.carveOnlyStationary

protected

Toggles carving the obstacle only when it is stationary.

If enabled, then the obstacle will be temporarely added to the obstacles KD-Tree while moving, and will be automatically remvoed from the tree and added to the navmesh triangulation when it becomes stationary.

carveType

CarveType NavAI.Obstacle.carveType

protected

Obstacle carve type.

CarveHeightmap: The obstacle will be carved on the heightmap, generating a navmesh surface over it.

CarveTrianguylatiion: The obstacle will be carved on the triangulation, allowing the pathfinder and other systems to deal with this obstacle intelligently.

DontCarve: The obstacle will not be carved on the triangulation and will be kept on the obstacles KD-Tree. This means that agents will avoid this obstacle using local collision avoidance only, and the pathfinder will not be able to calcualte a path around this obstacle.

localAngle

float NavAI.Obstacle.localAngle

protected

Degrees up axis (Y) angle of the obstacle in it's local space.

This is the equivalent of an offset for the obstacle collider Y angle.

localCos

float NavAI.Obstacle.localCos

protected

Cossin of the localAngle.

localPosition

Vector2 NavAI.Obstacle.localPosition

protected

Position of the obstacle in the obstacle local space (x, z).

This is the equivalent of an offset for the obstacle collider position.

localRadius

float NavAI.Obstacle.localRadius

protected

Radius in meters of the bounding ball in the obstacle local space.

The bounding ball is a circle centered at the obstacle center that contains all obstacle collider points.

localScale

Vector2 NavAI.Obstacle.localScale

protected

Scale of the obstacle in it's local space (x, z)

This is the equivalent of the obstacle collider size.

localSin

float NavAI.Obstacle.localSin

protected

Sin of the localAngle.

moveThreshold

float NavAI.Obstacle.moveThreshold

protected

Movement threshold in meters for the obstacle to be considered moving.

This is only used by dyanmic obstacles. Obstacles that have moved over the last frame will be flagged as dirty for the zone to update the triangulation or the obstacles KD-Tree.

Increasing this value can improve performance if there are too many dynamic obstacles in the scene.

noVertices

int NavAI.Obstacle.noVertices

protected

Number of vertices of the obstacle collider.

This is unused by obstacles that carve heightmap.

timeToStationary

float NavAI.Obstacle.timeToStationary

protected

Time not moving in seconds for the obstacle to be considered stationary.

This variable is used by dynamic obstacles flagged with carveOnlyStationary to determine when to carve the obstacle.

type

ObstacleType NavAI.Obstacle.type

protected

Type of the obstacle as static or dynamic.

A static obstacle will be carved either on the heightmap or on the triangulation, and will not be able to change at runtime.

Dynamic obstacles cannot be carved on the heightmap, but can have their transform changed at runtime.

zoneAngle

float NavAI.Obstacle.zoneAngle

protected

Up axis (Y) angle in degrees.

For performance and simplicty, we only keep track of the Y axis angle of obstacles. This means that rotating the obstacle using the X and Z axis will have no effect on the obstacle collider.

This field is only used by dynamic obstacles.

zoneCos

float NavAI.Obstacle.zoneCos

protected

Cossin of the zoneAngle.

This variable is stored to prevent recalculating the cossin when there are no changes to the angle.

zonePosition

Vector2 NavAI.Obstacle.zonePosition

protected

Position of the obstacle on the zone in the local zone coordinate system.

This is equivalent of Zone.WorldToLocalPoint(transform.position).

This field is only used by dynamic obstacles.

zoneScale

Vector2 NavAI.Obstacle.zoneScale

protected

Scale of the obstacle on it's own local space (x, z).

Since the obstacle collider is roughly 2D, there is no need to keep track of the sacle on the Y axis.

It would be mathematically correct for this scale to affect the obstacle collider scaling on the zone coordinate system, but that would cause distortion of the obstacle collider, which is not the intention. Using this scale on the obstacle local space simply makes the collider larger, without distorting it.

This field is only used by dynamic obstacles.

zoneSin

float NavAI.Obstacle.zoneSin

protected

Sin of the zoneAngle.

This variable is stored to prevent recalculating the cossin when there are no changes to the angle.

Property Documentation

CarveHeightMap

bool NavAI.Obstacle.CarveHeightMap

get

Gets true if the obstacle carve type is CarveHeightmap.

CarveOnlyStationary

bool NavAI.Obstacle.CarveOnlyStationary

getprotected set

Gets or sets carving the obstacle only when it is stationary.

If enabled, then the obstacle will be temporarely added to the obstacles KD-Tree while moving, and will be automatically remvoed from the tree and added to the navmesh triangulation when it becomes stationary.

CarveTriangulation

bool NavAI.Obstacle.CarveTriangulation

get

Gets true if the obstacle carve type is CarveTriangulation.

Dirty

bool NavAI.Obstacle.Dirty

getset

Gets or sets if the obstacle is dirty.

DontCarve

bool NavAI.Obstacle.DontCarve

get

Gets true if the obstacle carve type is DontCarve.

IgnoreObstacle

bool NavAI.Obstacle.IgnoreObstacle

get

Gets true if the obstacle carve type is IgnoreObstacle.

IsActive

bool NavAI.Obstacle.IsActive

get

Gets trye if the obstacle is active.

IsCarved

bool NavAI.Obstacle.IsCarved

get

Gets true if the obstacle is carved on the triangulation.

IsDynamic

bool NavAI.Obstacle.IsDynamic

get

Gets true if the obstacle type is dynamic.

IsStatic

bool NavAI.Obstacle.IsStatic

get

Gets true if the obstacle type is static.

IsStationary

bool NavAI.Obstacle.IsStationary

get

Gets true if the obstacle is currently stationary.

LocalAngle

float NavAI.Obstacle.LocalAngle

get

Gets the Y angle of the obstacle in it's local space.

This is the equivalent of the obstacle collider angle offset.

LocalPosition

Vector2 NavAI.Obstacle.LocalPosition

get

Gets the position of the obstacle in it's local space (X, Z).

This is the equivalent of the obstacle collider position offset.

LocalScale

Vector2 NavAI.Obstacle.LocalScale

get

Gets the scale of the obstacle in it's local space (X, Z).

This is the equivalent of the obstacle collider size.

MoveThreshold

float NavAI.Obstacle.MoveThreshold

getprotected set

Gets or sets the movement threshold in meters for the obstacle to be considered moving.

This is only used by dyanmic obstacles. Obstacles that have moved over the last frame will be flagged as dirty for the zone to update the triangulation or the obstacles KD-Tree.

Increasing this value can improve performance if there are too many dynamic obstacles in the scene.

NoVertices

int NavAI.Obstacle.NoVertices

getprotected set

Gets the number of vertices of the obstacle.

This propriety is not used by obstacles that carve the heightmap.

ObstCarveType

CarveType NavAI.Obstacle.ObstCarveType

getprotected set

Gets or sets the obstacle carve type.

CarveHeightmap: The obstacle will be carved on the heightmap, generating a navmesh surface over it.

CarveTrianguylatiion: The obstacle will be carved on the triangulation, allowing the pathfinder and other systems to deal with this obstacle intelligently.

DontCarve: The obstacle will not be carved on the triangulation and will be kept on the obstacles KD-Tree. This means that agents will avoid this obstacle using local collision avoidance only, and the pathfinder will not be able to calcualte a path around this obstacle.

ObstType

ObstacleType NavAI.Obstacle.ObstType

getprotected set

Gets or sets the type of the obstacle.

A static obstacle will be carved either on the heightmap or on the triangulation, and will not be able to change at runtime.

Dynamic obstacles cannot be carved on the heightmap, but can have their transform changed at runtime.

SqrMoveThreshold

float NavAI.Obstacle.SqrMoveThreshold

getprotected

Gets the movement threshold squared.

this[int i]

abstract Vector2 NavAI.Obstacle.this[int i]

get

Gets the vertex[i] of the obstacle.

Parameters

i	Index of the vertex.

Returns

The vertex i of the obstacle collider.

TimeToStationary

float NavAI.Obstacle.TimeToStationary

getprotected set

Gets or sets the time not moving in seconds for the obstacle to be considered stationary.

This variable is used by dynamic obstacles flagged with carveOnlyStationary to determine when to carve the obstacle.

WorldAngle

float NavAI.Obstacle.WorldAngle

get

Gets the world Y angle of the obstacle in degrees.

This will be different from transform.position if the obstacle has a localAngle other than zero.

WorldPosition

Vector3 NavAI.Obstacle.WorldPosition

get

Gets the world position of the obstacle.

This will be different from transform.position if the obstacle has a localPosition other than zero.

WorldRadius

float NavAI.Obstacle.WorldRadius

get

Gets the world radius in meters of the obstacle.

WorldScale

Vector3 NavAI.Obstacle.WorldScale

get

Gets the world scale of the obstacle.

This is the transform.lossyScale multiplied by the obstacle's localScale.

Zone

NavigationZone NavAI.Obstacle.Zone

getset

Gets the zone of the obstacle.

ZoneAngle

float NavAI.Obstacle.ZoneAngle

get

Gets the degrees Y angle of the obstacle in it's zone local space.

ZonePosition

Vector2 NavAI.Obstacle.ZonePosition

get

Gets the position of the obstacle in it's zone local space (X, Z).

This is the equivalent of Zone.WorldToLocalPoint(transform.position).

ZoneRadius

float NavAI.Obstacle.ZoneRadius

get

Gets the radius of the obstacle in it's zone local space.

ZoneScale

Vector2 NavAI.Obstacle.ZoneScale

get

Gets the scale of the obstacle in it's zone local space.

Since the obstacle collider is roughly 2D, there is no need to keep track of the sacle on the Y axis.

It would be mathematically correct for this scale to affect the obstacle collider scaling on the zone coordinate system, but that would cause distortion of the obstacle collider, which is not the intention. Using this scale on the obstacle local space simply makes the collider larger, without distorting it.

This field is only used by dynamic obstacles.