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Version: 3.3

class LightshipNavMesh

(Niantic.Lightship.AR.NavigationMesh.LightshipNavMesh)

Overview​

This class manages the data structures associated with a navigation mesh ("LightshipNavMesh"). 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 "LightshipNavMesh" from it. There are also a number of methods to help you place and move LightshipNavMeshAgent s on the board.

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

        // methods
    
        void Destroy();
        LightshipNavMesh(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 ("LightshipNavMesh"). 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 "LightshipNavMesh" from it. There are also a number of methods to help you place and move LightshipNavMeshAgent s on the board.

Properties​

Settings​

ModelSettings Settings

The configuration of the NavMeshModel.

Area​

float Area

The discovered free area in square meters.

Methods​

LightshipNavMesh​

LightshipNavMesh(ModelSettings settings, bool visualise)

Constructs a new LightshipNavMesh using the parameters given.

    Parameters:

    settings - Settings to calibrate unoccupied area detection.

    visualise - Visualize the LightshipNavMesh in the scene.

    Returns:

    Returns the newly created LightshipNavMesh.

IsOnNavMesh​

bool IsOnNavMesh(Vector3 position, float delta)

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

    Parameters:

    position - The 3d position to check for.

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

    Returns:

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

Clear​

void Clear()

Removes all surfaces from the LightshipNavMesh.