Navigation

Classes

NavMeshQuery

A query, holding everything a search needs so that running one allocates nothing.

NavPath

A route being walked: the nodes, and how far along them the agent is.

NavSearch

A* over a NavGraph, allocating nothing per query and answering the same route every time.

Interfaces

Contour

NavEdge

NavGeometry

Geometry to a field of where an agent of a given size could stand.

NavGraph

A graph to path over: nodes somewhere in the world, edges between them, and a cost per edge.

NavPathOptions

NavPlacement

Where a mesh stands in the world: a vertex at cell (i, j) is at originX + i * cellSize, originZ + j * cellSize. A VoxelField is one, which is what buildPolyMesh is meant to be handed.

NavSteer

Following a route, which is the half of navigation that is not the search.

PolyMesh

PortalGraph

RegionField

RegionSettings

VoxelField

Walkable surfaces as spans, in columns on a horizontal grid.

VoxeliseSettings

Functions

attachGoal

Point the portals of the goal's polygon at the goal node, and let the previous ones go.

attachStart

Point the start node at the portals of the polygon holding it.

buildContours

One closed loop per region, holes bridged into it, simplified.

buildNavGraph

Build the graph, checking the two things that make a wrong route look like a working one.

buildPolyMesh

buildPortalGraph

A portal's midpoint is its graph node's position, and the graph is in metres as a path is.

buildRegions

columnAt

The column index for a world position, or -1 outside the field.

contourSelfIntersects

Whether any two non-adjacent segments of a closed loop cross.

createNavSteer

maxDeviationOf

The furthest any raw point sits from the simplified loop. What the deviation bound means.

nearestNavNode

The node nearest a world position, or −1 for a graph with none in reach.

nearestPoly

The polygon a point is in, or the nearest within extent. -1 beyond it. The point and the extent are in metres, which the mesh's placement turns into its cells.

polyArea

The shoelace area, which is positive for the winding this builds and zero for a degenerate.

polyIsConvex

polyNeighbour

polyVertexCount

regionOfSpan

regionsLinked

spanCount

spanFloor

The world height of a span's floor, by column index and span number.

spanIndexAt

The index of the at-th span in a column, or -1. Spans are numbered across the whole field.

spanWalkable

voxeliseWalkable

Rasterise, then decide.

Constants

NO_NEIGHBOUR