Computes a path through a navigation mesh. More...

#include <Navigation.h>

Public Types
enum class	State { Idle , StartNewSearch , InvalidCurrentPosition , InvalidTargetPosition , NoPathFound , PartialPathSearchLimited , PartialPathUnreachable , FullPathFound , Searching }

Public Member Functions
State	GetState () const

void	Update ()

void	CancelNavigation ()

void	SetCurrentPosition (const ezVec3 &vPosition)

void	SetTargetPosition (const ezVec3 &vPosition, bool bOptimizeWhenFound=false)
	Sets the desired target location and starts a path search.

const ezVec3 &	GetTargetPosition () const

void	OptimizeCurrentPath ()
	Immediately optimizes the current path corridor (topology + visibility).

bool	IsPointInPathCorridor (const ezVec3 &vPosition, float fHeightTolerance=0.5f) const
	Checks whether vPosition lies inside the current path corridor.

void	SetNavmesh (ezAiNavMesh *pNavmesh)

void	SetQueryFilter (const dtQueryFilter &filter)

void	ComputeAllWaypoints (ezDynamicArray< ezVec3 > &out_waypoints) const

void	DebugDrawPathCorridor (const ezDebugRendererContext &context, ezColor tilesColor, float fPolyRenderOffsetZ=0.1f)

void	DebugDrawPathLine (const ezDebugRendererContext &context, ezColor straightLineColor, float fLineRenderOffsetZ=0.2f)

void	DebugDrawState (const ezDebugRendererContext &context, const ezVec3 &vPosition) const

float	GetCurrentElevation () const
	Returns the height of the navmesh at the current position.

void	ComputeSteeringInfo (ezAiSteeringInfo &out_info, const ezVec2 &vForwardDir, float fMaxLookAhead=5.0f)

Public Attributes
float	m_fPolySearchRadius = 0.5f

float	m_fPolySearchUp = 1.5f

float	m_fPolySearchDown = 1.5f

Static Public Attributes
static constexpr ezUInt32	MaxPathNodes = 64

static constexpr ezUInt32	MaxSearchNodes = MaxPathNodes * 8

static constexpr float	c_fPathSearchBoundary = 10.0f

Detailed Description

Computes a path through a navigation mesh.

First call SetNavmesh() and SetQueryFilter().

When you need a path, call SetCurrentPosition() and SetTargetPosition() to inform the system of the current position and desired target location. Then call Update() once per frame to have it compute the path. Call GetState() to figure out whether a path exists. Use ComputeAllWaypoints() to get an entire path, e.g. for visualization. For steering this is not necessary. Instead use ComputeSteeringInfo() to plan the next step. Apply your steering behavior to your character as desired. Keep calling SetCurrentPosition() and SetTargetPosition() to inform the ezAiNavigation of the new state, and keep calling ComputeSteeringInfo() every frame for the updated path.

If the destination was reached, a completely different path should be computed, or the current path should be canceled, call CancelNavigation(). To start a new path search, call SetTargetPosition() again (and Update() every frame).

Member Enumeration Documentation

◆ State

enum class ezAiNavigation::State

strong

Enumerator
PartialPathSearchLimited	partial: the A* search hit its node/buffer budget. A repath from closer to the target may complete it. The corridor is usable meanwhile, and Update() will auto-repath as the agent nears the partial end (as long as it keeps making progress).
PartialPathUnreachable	partial: the search finished but the target is genuinely not reachable. The corridor's end is the closest reachable point - this is final and will not be retried.

Member Function Documentation

◆ IsPointInPathCorridor()

bool ezAiNavigation::IsPointInPathCorridor	(	const ezVec3 &	vPosition,
		float	fHeightTolerance = `0.5f`
	)		const

Checks whether vPosition lies inside the current path corridor.

Returns true only if the point is directly above/below one of the corridor polygons and within fHeightTolerance of that polygon's surface. This is different from testing whether a point is on the navmesh at all, and different from a raycast: it answers "would moving to this position leave the planned corridor?". Returns false if no path exists.

◆ OptimizeCurrentPath()

void ezAiNavigation::OptimizeCurrentPath ( )

Immediately optimizes the current path corridor (topology + visibility).

Only has an effect when a path exists (GetState() == FullPathFound or one of the PartialPath* states). This is the on-demand counterpart to SetTargetPosition()'s bOptimizeWhenFound flag.

◆ SetTargetPosition()

void ezAiNavigation::SetTargetPosition	(	const ezVec3 &	vPosition,
		bool	bOptimizeWhenFound = `false`
	)

Sets the desired target location and starts a path search.

If bOptimizeWhenFound is true, the corridor is optimized (topology + visibility) once, as soon as the path search finishes. Use this to avoid the weird corridor shapes that the incremental (counter-based) optimization produces right after a repath. The path search is asynchronous, so the optimization cannot happen inside this call - it happens in a later Update() when the search completes.

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

/home/runner/work/ezEngine/ezEngine/Code/EnginePlugins/AiPlugin/Navigation/Navigation.h
/home/runner/work/ezEngine/ezEngine/Code/EnginePlugins/AiPlugin/Navigation/Implementation/Navigation.cpp

Public Types

Public Member Functions

Public Attributes