Skip to main content
Version: 3.0

class NavMesh

(Niantic.Lightship.AR.NavigationMesh.NavMesh)

Overview​

This class manages the data structures associated with a navigation mesh ("NavMesh"). It dynamically builds a 2d grid on the meshes detected in the environment for running navigation algorithms on. You are able to retrieve a number of properties of the "NavMesh" from it. There are also a number of methods to help you place and move NavMeshAgent s on the board.

class NavMesh {
	public:
		// properties
	
		ModelSettings Settings;
		float Area;
		List<Surface> Surfaces;

		// methods
	
		void Destroy();
		NavMesh(ModelSettings settings, bool visualise);
		bool IsOnNavMesh(Vector3 position, float delta);
	
		bool FindNearestFreePosition(
			Vector3 sourcePosition,
			float range,
			out Vector3 nearestPosition
		);
	
		bool FindRandomPosition(out Vector3 randomPosition);
	
		bool FindNearestFreePosition(
			Vector3 sourcePosition,
			out Vector3 nearestPosition
		);
	
		bool FindRandomPosition(
			Vector3 sourcePosition,
			float range,
			out Vector3 randomPosition
		);
	
		bool CheckFit(Vector3 center, float size);
		bool RayCast(Ray ray, out Vector3 hitPoint);
	
		bool CalculatePath(
			Vector3 fromPosition,
			Vector3 toPosition,
			AgentConfiguration agent,
			out Path path
		);
	
		void Scan(Vector3 origin, float range);
		void Clear();
		void Prune(Vector3 keepNodesOrigin, float range);
	};

Detailed Documentation​

This class manages the data structures associated with a navigation mesh ("NavMesh"). It dynamically builds a 2d grid on the meshes detected in the environment for running navigation algorithms on. You are able to retrieve a number of properties of the "NavMesh" from it. There are also a number of methods to help you place and move NavMeshAgent s on the board.

Properties​

Settings​

ModelSettings Settings

The configuration of the NavMeshModel.

Area​

float Area

The discovered free area in square meters.

Methods​

NavMesh(ModelSettings settings, bool visualise)

Constructs a new NavMesh using the parameters given.

    Parameters:

    settings - Settings to calibrate unoccupied area detection.

    visualise - Visualize the NavMesh in the scene.

    Returns:

    Returns the newly created NavMesh.

IsOnNavMesh​

bool IsOnNavMesh(Vector3 position, float delta)

Checks if a particular 3d position is on the NavMesh (within a certain threshold).

    Parameters:

    position - The 3d position to check for.

    delta - The threshold distance from the NavMesh to check against.

    Returns:

    true if the position provided is within delta meters of the NavMesh grid plane.

Clear​

void Clear()

Removes all surfaces from the NavMesh.