Represents a pathfinding entity. More...

Inheritance diagram for PathBerserker2d.NavAgent:

Public Types
enum	State { State.Idle, State.FollowPath }

Public Member Functions
delegate void	FailedToFindPathDelegate (NavAgent agent)

bool	WarpToNearestSegment ()
	Repositions the agent at the nearest segment the agent could be standing at. Segments the agent could not be at do to its tag or slope will be ignored. More...

bool	PathTo (params Vector2[] goals)
	Starts the process of pathfinding to the closest of the given goals. NOTE: Do not call this method every frame. Calculating a path takes longer than a frame, so the agent will never start moving. More...

bool	PathTo (Vector2 goal)
	Starts the process of pathfinding to the given goal. NOTE: Do not call this method every frame. Calculating a path takes longer than a frame, so the agent will never start moving. More...

bool	UpdatePath (params Vector2[] goals)
	Starts the process of pathfinding to the closest of the given goals. Will continue moving until the calculations for the new path are completed. NOTE: Do not call this method every frame. Calculating a path takes longer than a frame, so the agent will never start moving. More...

bool	UpdatePath (Vector2 goal)
	Starts the process of pathfinding to the given goal. Will continue moving until the calculations for the new path are completed. NOTE: Do not call this method every frame. Calculating a path takes longer than a frame, so the agent will never start moving. More...

bool	HasReachedCurrentSubGoal (float maxDist=0.05f)
	Simple distance check between agent and CurrentSubGoal. More...

bool	SetRandomDestination ()
	Start pathfinding to a random position on the NavGraph. It cannot grantee that this position is reachable. Does the agent might not move after this is called. More...

void	CompleteLinkTraversal ()
	If you implement link traversal yourself, call this to complete a link traversal. More...

void	CompleteSegmentTraversal ()
	If you implement segment traversal yourself, call this to complete a segment traversal. More...

bool	CanTraverseLink (INavLinkInstance link)
	Determines, if in this agent is allowed to traverse the given link. More...

float	GetLinkTraversalMultiplier (int linkType)
	Get the traversal cost multiplier for a given link type. More...

float	GetNavTagTraversalMultiplier (int navTag)
	Get the traversal cost multiplier for a given nav tag. More...

bool	IsOnSegmentWithTag (int navTag)
	Whether the agents current position contains the given NavTag. NOTE: Does not work, if the agent is not currently moving on a path. More...

void	Stop ()
	Stops the current path following at the first opportunity. Link traversal will be completed before the agent stops. More...

void	ForceStop ()
	Stops the current path following instantly. Agent might stop wihle traversing a link (e.g. while jumping in mid air) More...

bool?	IsOnSameSegmentAs (Vector2 other)
	Tries to map the "other" and checks if the agent is mapped to the same segment. If "other" can't be mapped this will return null. Agents on a link will always return false. If this agent currently can't be mapped this will return null. More...

IEnumerable< Vector2 >	PathPoints ()
	Enumerates the points on the currently followed path. Corner links will result in the same point being enumerated twice in a row. First point will be the agents current position. More...

Public Attributes
State	CurrentStatus => status

bool	IsIdle => status == State.Idle && currentPathRequest.Status == PathRequest.RequestState.Draft

bool	IsFollowingAPath => status == State.FollowPath

float	Height => height

float	MaxSlopeAngle => maxSlopeAngle

bool	IsOnLink => IsFollowingAPath && movementState == MovementState.OnLink

bool	IsMovingOnSegment => IsFollowingAPath && movementState == MovementState.OnSegment

bool	IsWaitingForLink => IsFollowingAPath && movementState == MovementState.WaitForLinkOnSegment

bool	IsOnSegment => IsFollowingAPath && movementState != MovementState.OnLink
	If true, either IsMovingOnSegment is true, or the agent is waiting to traverse an untraversable link. More...

bool	HasValidPosition => !currentMappedPosition.IsInvalid()
	Check, if the current mapped position of the agent is valid. The mapped position can only be valid, if the agent is close to the ground. (Close, not necessarily directly on the ground) More...

bool	IsStopping => stopRequested
	True, if Stop() was called and agent hasn't yet stopped More...

bool	IsOnGoalSegment => IsOnSegment && !Path.HasNext
	True, if the agent is on the last segment of its path. More...

INavLinkInstance	CurrentLink => currentPath?.CurrentSegment.link ?? null
	Link of the path segment the agent is on, or null. More...

string	CurrentLinkType => currentPath?.CurrentSegment.link?.LinkTypeName ?? ""
	Link type of the path segment the agent is on, or "" More...

Vector2	CurrentLinkStart => currentPath?.CurrentSegment.LinkStart ?? Vector2.zero
	Link start of the path segment the agent is on, or Vector2.zero More...

Vector2	CurrentSegmentNormal => IsFollowingAPath ? currentPath.CurrentSegment.SegmentNormal : (currentMappedPosition.cluster?.Normal ?? Vector2.up)
	Segment normal of the path segment the agent is on, or Vector2.up More...

Vector2	NextSegmentNormal => currentPath?.NextSegment?.SegmentNormal ?? Vector2.zero
	Segment normal of the next segment on the path, or Vector2.zero More...

Vector2	PathGoal => currentPath?.Goal ?? Vector2.zero
	Overall goal of the path the agent is on More...

int	CurrentNavTagVector => IsFollowingAPath ? currentPath.CurrentSegment.GetTagVector(Position) : (currentMappedPosition.cluster?.GetNavTagVector(currentMappedPosition.t) ?? 0)
	Combination of all NavTags at the position of the agent. More...

float	movementSpeed = 5
	Obsolete More...

float	cornerSpeed = 100
	Obsolete More...

float	jumpSpeed = 5
	Obsolete More...

float	fallSpeed = 5
	Obsolete More...

float	climbSpeed = 5
	Obsolete More...

Properties
Vector2	PathSubGoal `[get]`
	Current subgoal the agent is moving towards. May either be a link start or a link end. If it lies on a moving platform, the value may change from frame to frame. More...

Vector2	Position `[get, set]`
	Shorthand for transform.position More...

float	TimeOnLink `[get]`
	Time agent spend on link. Does not include waiting for link to become traversable. More...

Events
Action< NavAgent >	OnStartLinkTraversal
	Fired when agent begins moving on a link. More...

Action< NavAgent >	OnLinkTraversal
	Fired when agent is moving on a link. More...

Action< NavAgent >	OnStartSegmentTraversal
	Fired when agent start moving on a segment. More...

Action< NavAgent >	OnSegmentTraversal
	Fired when agent is moving on a link. More...

Action< NavAgent >	OnFailedToFindPath
	Fired when the agent fails to find a path More...

Action< NavAgent >	OnStop
	Fired when agent stops after Stop() or ForceStop() was called. For ForceStop() this happens instantly. For Stop() this happens after the agent stopped. More...

Action< NavAgent >	OnReachedGoal
	Fired when agent reaches its current goal. More...

Action< NavAgent >	OnStartFollowingNewPath
	Called when the agent starts following a new path. NOTE: Also called, after successfully recalculating a path, even if the path itself does not change. More...

Detailed Description

Represents a pathfinding entity.

This components handles the interaction with the asynchronous pathfinding system. It assumes the agent is a point located at transform.position. Automatic movement will directly modify the transform this script is attached to. See NavAgent's build-in movement for more detail on movement.

States

At heart the NavAgent is a state machine with the following states:

Idle
In this state the agent does nothing and is ready to path to a new location.
Planning
The agent has made a path request and is now waiting for its result. A call to PathTo for example would make the agent switch to this state. If the path calculation succeeded, the agent switches into the FollowPath state. If it didn't succeed however, the agent will switch back into the Idle state.
FollowPath
The agent will follow the a previously calculated path. Depending on whether autoSegmentMovement or autoLinkMovement is set, the path will be followed automatically. The agent has build-in ways to traverse the build-in link types. They don't make use of the physics system. The path will be recalculated at a set interval determined by autoRepathIntervall. This is to ensure the path is up to date with changes in the world. No reactions to changes in the world between recalculations is possible.

Following a path is further subdivided into three states:
- Segment movement
  The agent moves on a line segment. If you move the agent manually, call CompleteSegmentTraversal to switch to the next state.
- Wait for link
  This state is only entered if after the agent finshes moving on a segment, the link it wants to take is currently not traversable. The agent will wait for the link to become traversable again.
- Traverse link
  The agent will move on the link. If you move the agent manually, call CompleteLinkTraversal to begin traversing the next segment.
LostPath
The agent was previously in the FollowPath state, but LostPath was called. In this state, the agent will periodically attempt to find a path to its last goal. This is useful, for if the agent unexpectedly was moved of its previously followed path, it can still attempt to reach its goal. This state is only entered, when in state FollowPath and LostPath is called.

Pathfinding properties

A NavAgent has a few properties relevant to the pathfinder.

height
Only segments and links with enough free space are considered.
maxSlopeAngle
Only segments that don't exceed this angle are considered traversable. 0° = ground, 90° = straight walls and 180° = ceiling.
linkTraversalCostMultipliers
For each link one multiplier from this array is applied to its traversal costs. With multiplier values <= 0 you can completely exclude certain link types from traversal.
navTagTraversalCostMultipliers
Links and parts of segments can be tagged with a NavTag. NavTag with index 0 is considered the default and applied to all segments that don't have another NavTag. As with linkTraversalCostMultipliers multiplier values <= 0 completely exclude NavTags from traversal.

Member Enumeration Documentation

◆ State

enum PathBerserker2d.NavAgent.State

strong

Enumerator
Idle	Agent is doing nothing.
FollowPath	Agent is following a path.

Member Function Documentation

◆ CanTraverseLink()

bool PathBerserker2d.NavAgent.CanTraverseLink ( INavLinkInstance link )

Determines, if in this agent is allowed to traverse the given link.

◆ CompleteLinkTraversal()

void PathBerserker2d.NavAgent.CompleteLinkTraversal ( )

If you implement link traversal yourself, call this to complete a link traversal.

◆ CompleteSegmentTraversal()

void PathBerserker2d.NavAgent.CompleteSegmentTraversal ( )

If you implement segment traversal yourself, call this to complete a segment traversal.

◆ ForceStop()

void PathBerserker2d.NavAgent.ForceStop ( )

Stops the current path following instantly. Agent might stop wihle traversing a link (e.g. while jumping in mid air)

◆ GetLinkTraversalMultiplier()

float PathBerserker2d.NavAgent.GetLinkTraversalMultiplier ( int linkType )

Get the traversal cost multiplier for a given link type.

◆ GetNavTagTraversalMultiplier()

float PathBerserker2d.NavAgent.GetNavTagTraversalMultiplier ( int navTag )

Get the traversal cost multiplier for a given nav tag.

◆ HasReachedCurrentSubGoal()

bool PathBerserker2d.NavAgent.HasReachedCurrentSubGoal ( float maxDist = 0.05f )

Simple distance check between agent and CurrentSubGoal.

Returns: True, if distance is less than maxDist

◆ IsOnSameSegmentAs()

bool? PathBerserker2d.NavAgent.IsOnSameSegmentAs ( Vector2 other )

Tries to map the "other" and checks if the agent is mapped to the same segment. If "other" can't be mapped this will return null. Agents on a link will always return false. If this agent currently can't be mapped this will return null.

Parameters

other

◆ IsOnSegmentWithTag()

bool PathBerserker2d.NavAgent.IsOnSegmentWithTag ( int navTag )

Whether the agents current position contains the given NavTag. NOTE: Does not work, if the agent is not currently moving on a path.

Returns: True, if current position has supplied NavTag.

◆ PathPoints()

IEnumerable<Vector2> PathBerserker2d.NavAgent.PathPoints ( )

Enumerates the points on the currently followed path. Corner links will result in the same point being enumerated twice in a row. First point will be the agents current position.

◆ PathTo() [1/2]

bool PathBerserker2d.NavAgent.PathTo ( params Vector2[] goals )

Starts the process of pathfinding to the closest of the given goals. NOTE: Do not call this method every frame. Calculating a path takes longer than a frame, so the agent will never start moving.

See also: UpdatePath(Vector2[])

Parameters

goals Goals to pathfind to.

Returns: True, if the at least 1 goal and the agents own position could be mapped. This does not mean, that a path towards a goal exists.

◆ PathTo() [2/2]

bool PathBerserker2d.NavAgent.PathTo ( Vector2 goal )

Starts the process of pathfinding to the given goal. NOTE: Do not call this method every frame. Calculating a path takes longer than a frame, so the agent will never start moving.

See also: UpdatePath(Vector2)

Parameters

goals Goals to pathfind to.

Returns: True, if the at least 1 goal and the agents own position could be mapped. This does not mean, that a path towards a goal exists.

◆ SetRandomDestination()

bool PathBerserker2d.NavAgent.SetRandomDestination ( )

Start pathfinding to a random position on the NavGraph. It cannot grantee that this position is reachable. Does the agent might not move after this is called.

Returns

◆ Stop()

void PathBerserker2d.NavAgent.Stop ( )

Stops the current path following at the first opportunity. Link traversal will be completed before the agent stops.

◆ UpdatePath() [1/2]

bool PathBerserker2d.NavAgent.UpdatePath ( params Vector2[] goals )

Starts the process of pathfinding to the closest of the given goals. Will continue moving until the calculations for the new path are completed. NOTE: Do not call this method every frame. Calculating a path takes longer than a frame, so the agent will never start moving.

See also: PathTo(Vector2[])

Parameters

goals Goals to pathfind to.

Returns: True, if the at least 1 goal and the agents own position could be mapped. This does not mean, that a path towards a goal exists.

◆ UpdatePath() [2/2]

bool PathBerserker2d.NavAgent.UpdatePath ( Vector2 goal )

Starts the process of pathfinding to the given goal. Will continue moving until the calculations for the new path are completed. NOTE: Do not call this method every frame. Calculating a path takes longer than a frame, so the agent will never start moving.

See also: PathTo(Vector2)

Parameters

goals Goals to pathfind to.

Returns: True, if the at least 1 goal and the agents own position could be mapped. This does not mean, that a path towards a goal exists.

◆ WarpToNearestSegment()

bool PathBerserker2d.NavAgent.WarpToNearestSegment ( )

Repositions the agent at the nearest segment the agent could be standing at. Segments the agent could not be at do to its tag or slope will be ignored.

Returns: True, if warping was successful

Member Data Documentation

◆ climbSpeed

float PathBerserker2d.NavAgent.climbSpeed = 5

Obsolete

◆ cornerSpeed

float PathBerserker2d.NavAgent.cornerSpeed = 100

Obsolete

◆ CurrentLink

INavLinkInstance PathBerserker2d.NavAgent.CurrentLink => currentPath?.CurrentSegment.link ?? null

Link of the path segment the agent is on, or null.

◆ CurrentLinkStart

Vector2 PathBerserker2d.NavAgent.CurrentLinkStart => currentPath?.CurrentSegment.LinkStart ?? Vector2.zero

Link start of the path segment the agent is on, or Vector2.zero

◆ CurrentLinkType

string PathBerserker2d.NavAgent.CurrentLinkType => currentPath?.CurrentSegment.link?.LinkTypeName ?? ""

Link type of the path segment the agent is on, or ""

◆ CurrentNavTagVector

int PathBerserker2d.NavAgent.CurrentNavTagVector => IsFollowingAPath ? currentPath.CurrentSegment.GetTagVector(Position) : (currentMappedPosition.cluster?.GetNavTagVector(currentMappedPosition.t) ?? 0)

Combination of all NavTags at the position of the agent.

◆ CurrentSegmentNormal

Vector2 PathBerserker2d.NavAgent.CurrentSegmentNormal => IsFollowingAPath ? currentPath.CurrentSegment.SegmentNormal : (currentMappedPosition.cluster?.Normal ?? Vector2.up)

Segment normal of the path segment the agent is on, or Vector2.up

◆ fallSpeed

float PathBerserker2d.NavAgent.fallSpeed = 5

Obsolete

◆ HasValidPosition

bool PathBerserker2d.NavAgent.HasValidPosition => !currentMappedPosition.IsInvalid()

Check, if the current mapped position of the agent is valid. The mapped position can only be valid, if the agent is close to the ground. (Close, not necessarily directly on the ground)

◆ IsOnGoalSegment

bool PathBerserker2d.NavAgent.IsOnGoalSegment => IsOnSegment && !Path.HasNext

True, if the agent is on the last segment of its path.

◆ IsOnSegment

bool PathBerserker2d.NavAgent.IsOnSegment => IsFollowingAPath && movementState != MovementState.OnLink

If true, either IsMovingOnSegment is true, or the agent is waiting to traverse an untraversable link.

◆ IsStopping

bool PathBerserker2d.NavAgent.IsStopping => stopRequested

True, if Stop() was called and agent hasn't yet stopped

◆ jumpSpeed

float PathBerserker2d.NavAgent.jumpSpeed = 5

Obsolete

◆ movementSpeed

float PathBerserker2d.NavAgent.movementSpeed = 5

Obsolete

◆ NextSegmentNormal

Vector2 PathBerserker2d.NavAgent.NextSegmentNormal => currentPath?.NextSegment?.SegmentNormal ?? Vector2.zero

Segment normal of the next segment on the path, or Vector2.zero

◆ PathGoal

Vector2 PathBerserker2d.NavAgent.PathGoal => currentPath?.Goal ?? Vector2.zero

Overall goal of the path the agent is on

Property Documentation

◆ PathSubGoal

Vector2 PathBerserker2d.NavAgent.PathSubGoal

get

Current subgoal the agent is moving towards. May either be a link start or a link end. If it lies on a moving platform, the value may change from frame to frame.

◆ Position

Vector2 PathBerserker2d.NavAgent.Position

getset

Shorthand for transform.position

◆ TimeOnLink

float PathBerserker2d.NavAgent.TimeOnLink

get

Time agent spend on link. Does not include waiting for link to become traversable.

Event Documentation

◆ OnFailedToFindPath

Action<NavAgent> PathBerserker2d.NavAgent.OnFailedToFindPath

Fired when the agent fails to find a path

◆ OnLinkTraversal

Action<NavAgent> PathBerserker2d.NavAgent.OnLinkTraversal

Fired when agent is moving on a link.

◆ OnReachedGoal

Action<NavAgent> PathBerserker2d.NavAgent.OnReachedGoal

Fired when agent reaches its current goal.

◆ OnSegmentTraversal

Action<NavAgent> PathBerserker2d.NavAgent.OnSegmentTraversal

Fired when agent is moving on a link.

◆ OnStartFollowingNewPath

Action<NavAgent> PathBerserker2d.NavAgent.OnStartFollowingNewPath

Called when the agent starts following a new path. NOTE: Also called, after successfully recalculating a path, even if the path itself does not change.

◆ OnStartLinkTraversal

Action<NavAgent> PathBerserker2d.NavAgent.OnStartLinkTraversal

Fired when agent begins moving on a link.

◆ OnStartSegmentTraversal

Action<NavAgent> PathBerserker2d.NavAgent.OnStartSegmentTraversal

Fired when agent start moving on a segment.

◆ OnStop

Action<NavAgent> PathBerserker2d.NavAgent.OnStop

Fired when agent stops after Stop() or ForceStop() was called. For ForceStop() this happens instantly. For Stop() this happens after the agent stopped.

The documentation for this class was generated from the following file:

PathBerserker2d/NavAgent.cs

Public Types

Public Member Functions

Public Attributes

Properties

Events

Detailed Description

States

Pathfinding properties

Member Enumeration Documentation

◆ State

Member Function Documentation

◆ CanTraverseLink()

◆ CompleteLinkTraversal()

◆ CompleteSegmentTraversal()

◆ ForceStop()

◆ GetLinkTraversalMultiplier()

◆ GetNavTagTraversalMultiplier()

◆ HasReachedCurrentSubGoal()

◆ IsOnSameSegmentAs()

◆ IsOnSegmentWithTag()

◆ PathPoints()

◆ PathTo() [1/2]

◆ PathTo() [2/2]

◆ SetRandomDestination()

◆ Stop()

◆ UpdatePath() [1/2]

◆ UpdatePath() [2/2]

◆ WarpToNearestSegment()

Member Data Documentation

◆ climbSpeed

◆ cornerSpeed

◆ CurrentLink

◆ CurrentLinkStart

◆ CurrentLinkType

◆ CurrentNavTagVector

◆ CurrentSegmentNormal

◆ fallSpeed

◆ HasValidPosition

◆ IsOnGoalSegment

◆ IsOnSegment

◆ IsStopping

◆ jumpSpeed

◆ movementSpeed

◆ NextSegmentNormal

◆ PathGoal

Property Documentation

◆ PathSubGoal

◆ Position

◆ TimeOnLink

Event Documentation

◆ OnFailedToFindPath

◆ OnLinkTraversal

◆ OnReachedGoal

◆ OnSegmentTraversal

◆ OnStartFollowingNewPath

◆ OnStartLinkTraversal

◆ OnStartSegmentTraversal

◆ OnStop