Class NavGraph Extends IGraphInternals

int CountNodes ()

Number of nodes in the graph.

Note that this is, unless the graph type has overriden it, an O(n) operation.

This is an O(1) operation for grid graphs and point graphs. For layered grid graphs it is an O(n) operation.

NNInfo GetNearest (

Vector3	position	The position to try to find the closest node to.
NNConstraint	constraint=null	Used to limit which nodes are considered acceptable. You may, for example, only want to consider walkable nodes. If null, all nodes will be considered acceptable.

)

Returns the nearest node to a position using the specified NNConstraint.

The returned NNInfo will contain both the closest node, and the closest point on the surface of that node. The distance is measured to the closest point on the surface of the node.

NNInfo GetNearest (

Vector3	position	The position to try to find the closest node to.
NNConstraint	constraint	Used to limit which nodes are considered acceptable. You may, for example, only want to consider walkable nodes. If null, all nodes will be considered acceptable.
float	maxDistanceSqr	The maximum squared distance from the position to the node. If the node is further away than this, the function will return an empty NNInfo. You may pass infinity if you do not want to limit the distance.

)

Nearest node to a position using the specified NNConstraint.

The returned NNInfo will contain both the closest node, and the closest point on the surface of that node. The distance is measured to the closest point on the surface of the node.

void GetNodes (

System.Func<GraphNode, bool>

action

)

Calls a delegate with all nodes in the graph until the delegate returns false.

void GetNodes (

System.Action<GraphNode>

action

)

Calls a delegate with all nodes in the graph.

This is the primary way of iterating through all nodes in a graph.

Do not change the graph structure inside the delegate.

var gg = AstarPath.active.data.gridGraph;

gg.GetNodes(node => {
// Here is a node
Debug.Log("I found a node at position " + (Vector3)node.position);
});
If you want to store all nodes in a list you can do this

var gg = AstarPath.active.data.gridGraph;

List<GraphNode> nodes = new List<GraphNode>();

gg.GetNodes((System.Action<GraphNode>)nodes.Add);


bool IsInsideBounds (

Vector3

point

)

True if the point is inside the bounding box of this graph.

This method may be able to use a tighter (non-axis aligned) bounding box than using the one returned by bounds.

It is valid for a graph to return true for all points in the world. In particular the PointGraph will always return true, since it has no limits on its bounding box.

float NearestNodeDistanceSqrLowerBound (

Vector3	position	The position to check from
NNConstraint	constraint=null	A constraint on which nodes are valid. This may or may not be used by the function. You may pass null if you consider all nodes valid.

)

Lower bound on the squared distance from the given point to the closest node in this graph.

This is used to speed up searching for the closest node when there is more than one graph in the scene, by checking the graphs in order of increasing estimated distance to the point.

Implementors may return 0 at all times if it is hard to come up with a good lower bound. It is more important that this function is fast than that it is accurate.

void OnDrawGizmos (

DrawingData	gizmos
bool	drawNodes
RedrawScope	redrawScope

)

Draw gizmos for the graph.

void RelocateNodes (

Matrix4x4

deltaMatrix

)

Moves the nodes in this graph.

Multiplies all node positions by deltaMatrix.

For example if you want to move all your nodes in e.g a point graph 10 units along the X axis from the initial position var graph = AstarPath.data.pointGraph;
var m = Matrix4x4.TRS (new Vector3(10,0,0), Quaternion.identity, Vector3.one);
graph.RelocateNodes (m);


void Scan ()

Scan the graph.

Consider using AstarPath.Scan() instead since this function only scans this graph, and if you are using multiple graphs with connections between them, then it is better to scan all graphs at once.

IGraphSnapshot Snapshot (

Bounds

bounds

)

Captures a snapshot of a part of the graph, to allow restoring it later.

If this graph type does not support taking snapshots, or if the bounding box does not intersect with the graph, this method returns null.

AstarPath active

Reference to the AstarPath object in the scene.

Bounds bounds

World bounding box for the graph.

This always contains the whole graph.

It is ok for a graph type to return an infinitely large bounding box, but this may make some operations less efficient. The point graph will always return an infinitely large bounding box.

bool drawGizmos = true

Enable to draw gizmos in the Unity scene view.

In the inspector this value corresponds to the state of the 'eye' icon in the top left corner of every graph inspector.

uint graphIndex

Index of the graph, used for identification purposes.

Guid guid

Used as an ID of the graph, considered to be unique.

bool infoScreenOpen

Used in the editor to check if the info screen is open.

Should be inside UNITY_EDITOR only #ifs but just in case anyone tries to serialize a NavGraph instance using Unity, I have left it like this as it would otherwise cause a crash when building. Version 3.0.8.1 was released because of this bug only

uint initialPenalty

Default penalty to apply to all nodes.

bool isScanned

True if the graph has been scanned and contains nodes.

Graphs are typically scanned when the game starts, but they can also be scanned manually.

If a graph has not been scanned, it does not contain any nodes and it not possible to use it for pathfinding.

string name

Name of the graph.

Can be set in the unity editor

bool open

Is the graph open in the editor.

bool persistent

True if the graph will be included when serializing graph data.

If false, the graph will be ignored when saving graph data.

Most graphs are persistent, but the LinkGraph is not persistent because links are always re-created from components at runtime.

bool showInInspector

True if the graph should be visible in the editor.

False is used for some internal graph types that users don't have to worry about.

void AssertSafeToUpdateGraph ()

Throws an exception if it is not safe to update internal graph data right now.

It is safe to update graphs when graphs are being scanned, or inside a work item. In other cases pathfinding could be running at the same time, which would not appreciate graph data changing under its feet.

void DeserializeExtraInfo (

GraphSerializationContext

ctx

)

Deserializes graph type specific node data.

void IGraphInternals. DeserializeExtraInfo (

GraphSerializationContext

ctx

)

void DestroyAllNodes ()

Destroys all nodes in the graph.

void IGraphInternals. DestroyAllNodes ()

void DirtyBounds (

Bounds

bounds

)

Notifies the system that changes have been made inside these bounds.

This should be called by graphs whenever they are changed. It will cause off-mesh links to be updated, and it will also ensure GraphModifier events are callled.

The bounding box should cover the surface of all nodes that have been updated. It is fine to use a larger bounding box than necessary (even an infinite one), though this may be slower, since more off-mesh links need to be recalculated. You can even use an infinitely large bounding box if you don't want to bother calculating a more accurate one. You can also call this multiple times to dirty multiple bounding boxes.

When scanning the graph, this is called automatically - with the value from the bounds property - for all graphs after the scanning has finished.

void DisposeUnmanagedData ()

Cleans up any unmanaged data that the graph has.

void IGraphInternals. DisposeUnmanagedData ()

void DrawUnwalkableNodes (

DrawingData	gizmos
float	size
RedrawScope	redrawScope

)

void OnDestroy ()

Function for cleaning up references.

This will be called on the same time as OnDisable on the gameObject which the AstarPath script is attached to (remember, not in the editor). Use for any cleanup code such as cleaning up static variables which otherwise might prevent resources from being collected. Use by creating a function overriding this one in a graph class, but always call base.OnDestroy () in that function. All nodes should be destroyed in this function otherwise a memory leak will arise.

void IGraphInternals. OnDestroy ()

void PostDeserialization (

GraphSerializationContext

ctx

)

Called after all deserialization has been done for all graphs.

Can be used to set up more graph data which is not serialized

void IGraphInternals. PostDeserialization (

GraphSerializationContext

ctx

)

IGraphUpdatePromise ScanInternal (

bool

async

)

Internal method to scan the graph.

Override this function to implement custom scanning logic.

IGraphUpdatePromiseIGraphInternals. ScanInternal (

bool

async

)

void SerializeExtraInfo (

GraphSerializationContext

ctx

)

Serializes graph type specific node data.

This function can be overriden to serialize extra node information (or graph information for that matter) which cannot be serialized using the standard serialization. Serialize the data in any way you want and return a byte array. When loading, the exact same byte array will be passed to the DeserializeExtraInfo function.
These functions will only be called if node serialization is enabled.

void IGraphInternals. SerializeExtraInfo (

GraphSerializationContext

ctx

)

string IGraphInternals. SerializedEditorSettings

bool exists

True if the graph exists, false if it has been destroyed.

string serializedEditorSettings

Used in the Unity editor to store serialized settings for graph inspectors.

NNInfo GetNearestForce (

Vector3	position
NNConstraint	constraint

)

Returns the nearest node to a position using the specified NNConstraint.

IGraphUpdatePromise ScanInternal ()

Internal method to scan the graph.