Class GraphNode

void AddPartialConnection (

GraphNode	node
uint	cost
bool	isOutgoing
bool	isIncoming

)

Add a connection from this node to the specified node.

If the connection already exists, the cost will simply be updated and no extra connection added.

AstarPath.active.AddWorkItem(new AstarWorkItem(ctx => {
// Connect two nodes
var node1 = AstarPath.active.GetNearest(transform.position, NNConstraint.None).node;
var node2 = AstarPath.active.GetNearest(transform.position + Vector3.right, NNConstraint.None).node;
var cost = (uint)(node2.position - node1.position).costMagnitude;
node1.AddPartialConnection(node2, cost, true, true);
node2.AddPartialConnection(node1, cost, true, true);

node1.ContainsOutgoingConnection(node2); // True

node1.RemovePartialConnection(node2);
node2.RemovePartialConnection(node1);
}));


Some graphs have a special representation for some connections which is more efficient. For example grid graphs can represent connections to its 8 neighbours more efficiently. But to use that efficient representation you'll need to call GridNode.SetConnectionInternal instead of this method.

void ClearConnections (

bool

alsoReverse=true

if true, neighbours will be requested to remove connections to this node.

)

Remove all connections between this node and other nodes.

Vector3 ClosestPointOnNode (

Vector3

p

)

Closest point on the surface of this node to the point p.

bool ContainsOutgoingConnection (

GraphNode

node

)

True if this node contains a connection to the given node.

This will not return true if another node has a one-way connection to this node.

AstarPath.active.AddWorkItem(new AstarWorkItem(ctx => {
// Connect two nodes
var node1 = AstarPath.active.GetNearest(transform.position, NNConstraint.None).node;
var node2 = AstarPath.active.GetNearest(transform.position + Vector3.right, NNConstraint.None).node;
var cost = (uint)(node2.position - node1.position).costMagnitude;
node1.AddPartialConnection(node2, cost, true, true);
node2.AddPartialConnection(node1, cost, true, true);

node1.ContainsOutgoingConnection(node2); // True

node1.RemovePartialConnection(node2);
node2.RemovePartialConnection(node1);
}));


bool ContainsPoint (

Int3

point

)

Checks if point is inside the node when seen from above.

bool ContainsPoint (

Vector3

point

)

Checks if point is inside the node when seen from above.

bool ContainsPointInGraphSpace (

Int3

point

)

Checks if point is inside the node in graph space.

Int3 DecodeVariantPosition (

uint	pathNodeIndex
uint	fractionAlongEdge

)

The position of the path node during the search.

When an A* search on triangle nodes is carried out, each edge of the node is a separate path node variant. The search will additionally decide where on that edge the path node is located. This is encoded by the fractionAlongEdge variable. This function decodes the position of the path node.

void DeserializeNode (

GraphSerializationContext

ctx

)

Deserializes the node data from a byte array.

void DeserializeReferences (

GraphSerializationContext

ctx

)

Used to deserialize references to other nodes e.g connections.

Use the GraphSerializationContext.GetNodeIdentifier and GraphSerializationContext.GetNodeFromIdentifier methods for serialization and deserialization respectively.

Nodes must override this method and serialize their connections. Graph generators do not need to call this method, it will be called automatically on all nodes at the correct time by the serializer.

void Destroy ()

Destroys the node.

Cleans up any temporary pathfinding data used for this node. The graph is responsible for calling this method on nodes when they are destroyed, including when the whole graph is destoyed. Otherwise memory leaks might present themselves.

Once called the Destroyed property will return true and subsequent calls to this method will not do anything.

void GetConnections (

System.Action<GraphNode>	action	The delegate which will be called once for every connection.
int	connectionFilter=Connection.OutgoingConnection	A bitmask of which connection types will be included. You may pass any combination of Connection.OutgoingConnection and Connection.IncomingConnection. Defaults to only outgoing connections. Unless one-way links are added to a graph, all connections will typically be bidirectional.

)

Calls the delegate with all connections from this node.

node.GetConnections(connectedTo => {
Debug.DrawLine((Vector3)node.position, (Vector3)connectedTo.position, Color.red);
});
You can add all connected nodes to a list like this var connections = new List<GraphNode>();
node.GetConnections(connections.Add);


void GetConnections<T> (

GetConnectionsWithData<T>	action	The delegate which will be called once for every connection. The first parameter to the delegate is the connection and the second parameter is the custom data passed to this method.
ref T	data	Custom data which will be passed to the delegate.
int	connectionFilter=Connection.OutgoingConnection	A bitmask of which connection types will be included. A connection can either be incoming, outgoing, or both (bidirectional). You may pass any combination of Connection.OutgoingConnection and Connection.IncomingConnection. Defaults to only outgoing connections. Unless one-way links are added to a graph, all connections will typically be bidirectional.

)

Calls the delegate with all connections from or to this node, and passes a custom data value to the delegate.

node.GetConnections(connectedTo => {
Debug.DrawLine((Vector3)node.position, (Vector3)connectedTo.position, Color.red);
});
You can add all connected nodes to a list like this var connections = new List<GraphNode>();
node.GetConnections(connections.Add);


delegate void GetConnectionsWithData<T> (

GraphNode	node
ref T	data

)

int GetGizmoHashCode ()

Hash code used for checking if the gizmos need to be updated.

Will change when the gizmos for the node might change.

bool GetPortal (

GraphNode	other	The node which is on the other side of the portal.
out Vector3	left	Output left side of the portal.
out Vector3	right	Output right side of the portal.

)

Add a portal from this node to the specified node.

This function returns a portal which connects this node to the given adjacenet node.

The default implementation simply returns false.

void Open (

Path	path
uint	pathNodeIndex
uint	gScore

)

Open the node.

Used internally by the A* algorithm.

void OpenAtPoint (

Path	path
uint	pathNodeIndex
Int3	position
uint	gScore

)

Open the node at a specific point.

Used internally by the A* algorithm.

Used when a path starts inside a node, or when an off-mesh link is used to move to a point inside this node.

Vector3 RandomPointOnSurface ()

A random point on the surface of the node.

For point nodes and other nodes which do not have a surface, this will always return the position of the node.

void RemovePartialConnection (

GraphNode

node

)

Removes any connection from this node to the specified node.

If no such connection exists, nothing will be done.

AstarPath.active.AddWorkItem(new AstarWorkItem(ctx => {
// Connect two nodes
var node1 = AstarPath.active.GetNearest(transform.position, NNConstraint.None).node;
var node2 = AstarPath.active.GetNearest(transform.position + Vector3.right, NNConstraint.None).node;
var cost = (uint)(node2.position - node1.position).costMagnitude;
node1.AddPartialConnection(node2, cost, true, true);
node2.AddPartialConnection(node1, cost, true, true);

node1.ContainsOutgoingConnection(node2); // True

node1.RemovePartialConnection(node2);
node2.RemovePartialConnection(node1);
}));


void SerializeNode (

GraphSerializationContext

ctx

)

Serialized the node data to a byte array.

void SerializeReferences (

GraphSerializationContext

ctx

)

Used to serialize references to other nodes e.g connections.

Use the GraphSerializationContext.GetNodeIdentifier and GraphSerializationContext.GetNodeFromIdentifier methods for serialization and deserialization respectively.

Nodes must override this method and serialize their connections. Graph generators do not need to call this method, it will be called automatically on all nodes at the correct time by the serializer.

void SetConnectivityDirty ()

Inform the system that the node's connectivity has changed.

This is used for recalculating the connected components of the graph.

You must call this method if you change the connectivity or walkability of the node without going through the high level methods such as the Walkable property or the Connect method. For example if your manually change the Pathfinding.MeshNode.connections array you need to call this method.

float SurfaceArea ()

The surface area of the node in square world units.

void Connect (

GraphNode	lhs	First node to connect.
GraphNode	rhs	Second node to connect
uint	cost	Cost of the connection. A cost of 1000 corresponds approximately to the cost of moving one world unit. See Int3.Precision.
OffMeshLinks.Directionality	directionality=OffMeshLinks.Directionality.TwoWay	Determines if both lhs->rhs and rhs->lhs connections will be created, or if only a connection from lhs->rhs should be created.

)

Adds a connection between two nodes.

If the nodes already have a connection to each other, that connection will be updated with the new cost.

Note that some graphs have a special representation for some connections which is more efficient. For example grid graphs can represent connections to its 8 neighbours more efficiently. But to use that efficient representation you'll need to call GridNode.SetConnectionInternal instead of this method.

This is different from an off-mesh link. An off-mesh link contains more metadata about the connection and is in many cases preferable to use instead of this method. This is a much lower-level method which is used by off-mesh links internally.

Movement scripts such as the RichAI or FollowerEntity may get confused if they try to follow a connection made using this method as it does not contain any information about how to traverse the connection.

Internally, both nodes keep track of the connection to the other node, even for a one-way connection. This is done to make sure the connection can always be removed later on, if for example one of the nodes is destroyed.

// Connect two nodes
var node1 = AstarPath.active.GetNearest(transform.position, NNConstraint.None).node;
var node2 = AstarPath.active.GetNearest(transform.position + Vector3.right, NNConstraint.None).node;
var cost = (uint)(node2.position - node1.position).costMagnitude;

GraphNode.Connect(node1, node2, cost, OffMeshLinks.Directionality.TwoWay);


void Disconnect (

GraphNode	lhs
GraphNode	rhs

)

Removes the connection between two nodes.

If no connection exists between the nodes, nothing will be done.

This will also handle special connections representations that some node types use. For example grid graphs represent the connections to their 8 grid neighbours differently from other connections.

uint Area

Connected component that contains the node.

This is visualized in the scene view as differently colored nodes (if the graph coloring mode is set to 'Areas'). Each area represents a set of nodes such that there is no valid path between nodes of different colors.

bool Destroyed

uint Flags

Holds various bitpacked variables.

Bit 0: Walkable Bits 1 through 17: HierarchicalNodeIndex Bit 18: IsHierarchicalNodeDirty Bits 19 through 23: Tag Bits 24 through 31: GraphIndex

NavGraph Graph

Graph which this node belongs to.

If you know the node belongs to a particular graph type, you can cast it to that type: GraphNode node = ...;
GridGraph graph = node.Graph as GridGraph;


Will return null if the node has been destroyed.

uint GraphIndex

Graph which contains this node.

uint NodeIndex

Internal unique index.

Every node will get a unique index. This index is not necessarily correlated with e.g the position of the node in the graph.

uint? Penalty

Penalty cost for walking on this node.

This can be used to make it harder/slower to walk over specific nodes. A cost of 1000 (Int3.Precision) corresponds to the cost of moving 1 world unit.

uint Tag

Node tag.

bool? Walkable

True if the node is traversable.

Int3 position

Position of the node in world space.

const uint DestroyedNodeIndex = NodeIndexMask - 1

const uint InvalidGraphIndex = (FlagsGraphMask) >> FlagsGraphOffset

const int InvalidNodeIndex = 0

const uint MaxGraphIndex = (FlagsGraphMask-1) >> FlagsGraphOffset

Max number of graphs-1.

const uint MaxHierarchicalNodeIndex = HierarchicalIndexMask >> FlagsHierarchicalIndexOffset

const int MaxTagIndex = 32 - 1

Max number of tags - 1.

Always a power of 2 minus one

const uint FlagsGraphMask = (256u-1) << FlagsGraphOffset

Mask of graph index bits.

const int FlagsGraphOffset = 24

Start of graph index bits.

const int FlagsHierarchicalIndexOffset = 1

Start of hierarchical node index bits.

const uint FlagsTagMask = MaxTagIndex << FlagsTagOffset

Mask of tag bits.

const int FlagsTagOffset = 19

Start of tag bits.

const uint FlagsWalkableMask = 1 << FlagsWalkableOffset

Mask of the walkable bit.

const int FlagsWalkableOffset = 0

Position of the walkable bit.

const uint HierarchicalDirtyMask = 1 << HierarchicalDirtyOffset

Mask of the IsHierarchicalNodeDirty bit.

const int HierarchicalDirtyOffset = 18

Start of IsHierarchicalNodeDirty bits.

const uint HierarchicalIndexMask = (131072-1) << FlagsHierarchicalIndexOffset

Mask of hierarchical node index bits.

int HierarchicalNodeIndex

Hierarchical Node that contains this node.

The graph is divided into clusters of small hierarchical nodes in which there is a path from every node to every other node. This structure is used to speed up connected component calculations which is used to quickly determine if a node is reachable from another node.

bool? IsHierarchicalNodeDirty

Some internal bookkeeping.

const uint NodeIndexMask = 0xFFFFFFF

int PathNodeVariants

How many path node variants should be created for each node.

This should be a constant for each node type.

Typically this is 1, but for example the triangle mesh node type has 3 variants, one for each edge.

bool? TemporaryFlag1

Temporary flag for internal purposes.

May only be used in the Unity thread. Must be reset to false after every use.

const int TemporaryFlag1Mask = 0x10000000

bool? TemporaryFlag2

Temporary flag for internal purposes.

May only be used in the Unity thread. Must be reset to false after every use.

const int TemporaryFlag2Mask = 0x20000000

uint flags

Bitpacked field holding several pieces of data.

int nodeIndex

Internal unique index.

Also stores some bitpacked values such as TemporaryFlag1 and TemporaryFlag2.

uint penalty

Penalty cost for walking on this node.

This can be used to make it harder/slower to walk over certain nodes.

A penalty of 1000 (Int3.Precision) corresponds to the cost of walking one world unit.

void AddConnection (

GraphNode	node
uint	cost

)

Adds a connection to the given node.

bool ContainsConnection (

GraphNode

node

)

True if this node contains a connection to the given node.

bool GetPortal (

GraphNode	other	The node which is on the other side of the portal (strictly speaking it does not actually have to be on the other side of the portal though).
List<Vector3>	left	List of portal points on the left side of the funnel
List<Vector3>	right	List of portal points on the right side of the funnel
bool	backwards	If this is true, the call was made on a node with the other node as the node before this one in the path. In this case you may choose to do nothing since a similar call will be made to the other node with this node referenced as other (but then with backwards = true). You do not have to care about switching the left and right lists, that is done for you already.

)

Add a portal from this node to the specified node.

This function should add a portal to the left and right lists which is connecting the two nodes (this and other).

The default implementation simply returns false.

This function may add more than one portal if necessary.

void RemoveConnection (

GraphNode

node

)

Removes a connection to the given node.