PathCorridor

Remarks

An agent does not follow a line, it follows a corridor. The expensive search happens once, when the destination changes; after that every frame only trims the polygons the agent has left off the front and pulls a fresh set of corners out of what remains. That is what makes a hundred agents affordable — the per-frame cost is a string-pull over a handful of polygons, not a search.

It is also what makes local avoidance safe. Avoidance pushes an agent sideways, off the line it would have walked; because the corridor is a region rather than a line, the agent is still inside its path afterwards and no replan is needed.

Fields and properties (6)

• public Vector3 Position

  Where the agent is.

• public Vector3 Target

  Where it is going.

• public int Count

  How many polygons the corridor holds.

• public NavPolyRef FirstPoly

  The polygon the agent is on.

• public NavPolyRef LastPoly

  The polygon the target is on.

• public ReadOnlySpan<NavPolyRef> Path

  The corridor, for a caller that wants to look at it.

Methods (8)

• public PathCorridor(int capacity = 256)

  Creates a corridor.

• public void Reset(NavPolyRef poly, Vector3 position)

  Throws the corridor away and starts again from one polygon.

• public void SetPath(Vector3 target, ReadOnlySpan<NavPolyRef> corridor)

  Gives the corridor a path to follow.

• public int FindCorners(NavMeshQuery query, Span<NavPathPoint> corners)

  The corners the agent has to turn at, starting from where it is.

• public bool MovePosition(Vector3 wanted, NavMeshQuery query, NavQueryFilter filter)

  Moves the agent, keeping it on the mesh and trimming the polygons it has walked past.

• public bool TryUseOffMeshConnection(NavMesh mesh, float reach, out NavPolyRef connection, out Vector3 entry, out Vector3 exit)

  Steps onto the off-mesh connection the corridor is about to use, if the agent has arrived at its near end.

• public void Optimize(NavMeshQuery query, NavQueryFilter filter, float distance = 6)

  Cuts the corridor short wherever the agent can already see past it.

• public void EnsureCapacity(int capacity)

  Makes room for a longer path.

Used by (2)

• AgentVixen.Navigation
• CrowdVixen.Navigation