Class GridNode Extends GridNodeBase

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

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

)

Remove all connections between this node and other nodes.

void DeserializeNode (

GraphSerializationContext

ctx

)

Deserializes the node data from a byte array.

int GetAllConnectionInternal ()

Bitpacked int containing all 8 grid connections.

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	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);


GridNodeBase GetNeighbourAlongDirection (

int

direction

)

Adjacent grid node in the specified direction.

This will return null if the node does not have a connection to a node in that direction.

The dir parameter corresponds to directions in the grid as: Z
|
|

6 2 5
\ | /
-- 3 - X - 1 ----- X
/ | \
7 0 4

|
|


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.

GridNode ()

GridNode (

AstarPath

astar

)

bool HasConnectionInDirection (

int

dir

)

True if the node has a connection in the specified direction.

The dir parameter corresponds to directions in the grid as: Z
|
|

6 2 5
\ | /
-- 3 - X - 1 ----- X
/ | \
7 0 4

|
|


void Open (

Path	path
uint	pathNodeIndex
uint	gScore

)

Open the node.

Used internally by the A* algorithm.

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 ResetConnectionsInternal ()

Disables all grid connections from this node.

void SerializeNode (

GraphSerializationContext

ctx

)

Serialized the node data to a byte array.

void SetAllConnectionInternal (

int

connections

a bitmask of the connections (bit 0 is the first connection, bit 1 the second connection, etc.).

)

Sets the state of all grid connections.

void SetConnectionInternal (

int	dir
bool	value

)

Enables or disables a connection in a specified direction on the graph.

void ClearGridGraph (

int	graphIndex
GridGraph	graph

)

int FilterDiagonalConnections (

int	conns
NumNeighbours	neighbours
bool	cutCorners

)

Filters diagonal connections based on the non-diagonal ones to prevent corner cutting and similar things.

This involves some complicated bitshifting to calculate which diagonal connections should be active based on the non-diagonal ones. For example a path should not be able to pass from A to B if the #s represent nodes that we cannot traverse.

# B
A #


Additionally if corner cutting is disabled we will also prevent a connection from A to B in this case:

B
A #


If neighbours = 4 then only the 4 axis aligned connections will be enabled.

If neighbours = 6 then only the connections which are valid for hexagonal graphs will be enabled.

GridGraph GetGridGraph (

uint

graphIndex

)

void SetGridGraph (

int	graphIndex
GridGraph	graph

)

bool? EdgeNode

Work in progress for a feature that required info about which nodes were at the border of the graph.

bool HasAnyGridConnections

bool HasConnectionsToAllAxisAlignedNeighbours

bool HasConnectionsToAllEightNeighbours

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.

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.

void ClearConnections (

bool

alsoReverse

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

)

Remove all connections between this node and other nodes.

void ClearCustomConnections (

bool

alsoReverse

)

Same as ClearConnections, but does not clear grid connections, only custom ones (e.g added by AddConnection or a NodeLink component)

Vector3 ClosestPointOnNode (

Vector3

p

)

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

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);


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.

The borders of a node are considered to be inside the node.

Note that ContainsPointInGraphSpace is faster than this method as it avoids some coordinate transformations. If you are repeatedly calling this method on many different nodes but with the same point then you should consider transforming the point first and then calling ContainsPointInGraphSpace. Int3 p = (Int3)graph.transform.InverseTransform(point);

node.ContainsPointInGraphSpace(p);


bool ContainsPointInGraphSpace (

Int3

point

)

Checks if point is inside the node in graph space.

The borders of a node are considered to be inside the node.

The y coordinate of the point is ignored.

Int2 CoordinatesInGrid

The X and Z coordinates of the node in the grid.

The node in the bottom left corner has (x,z) = (0,0) and the one in the opposite corner has (x,z) = (width-1, depth-1)

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 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.

bool Destroyed

const uint DestroyedNodeIndex = NodeIndexMask - 1

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 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

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	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.

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.

const int InvalidNodeIndex = 0

const uint MaxGraphIndex = FlagsGraphMask >> 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

int NodeInGridIndex

The index of the node in the grid.

This is x + z*graph.width So you can get the X and Z indices using int index = node.NodeInGridIndex;
int x = index % graph.width;
int z = index / graph.width;
// where graph is GridNode.GetGridGraph (node.graphIndex), i.e the graph the nodes are contained in.


const int NodeInGridIndexLayerOffset = 24

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.

Vector2 NormalizePoint (

Vector3

worldPoint

)

Transforms a world space point to a normalized point on this node's surface.

(0.5,0.5) represents the node's center. (0,0), (1,0), (1,1) and (0,1) each represent the corners of the node.

int OffsetToConnectionDirection (

int	dx	X coordinate delta. Should be in the range [-1, 1]. Values outside this range will cause -1 to be returned.
int	dz	Z coordinate delta. Should be in the range [-1, 1]. Values outside this range will cause -1 to be returned.

)

Converts from a delta (dx, dz) to a neighbour direction.

For example, if dx=1 and dz=0, the return value will be 1, which is the direction to the right of a grid coordinate.

If dx=0 and dz=0, the return value will be -1.

Z
|
|

6 2 5
\ | /
-- 3 - X - 1 ----- X
/ | \
7 0 4

|
|


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.

int OppositeConnectionDirection (

int

dir

)

The connection opposite the given one.

Z
|
|

6 2 5
\ | /
-- 3 - X - 1 ----- X
/ | \
7 0 4

|
|


For example, dir=1 outputs 3, dir=6 outputs 4 and so on.

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.

Vector3 ProjectOnSurface (

Vector3

point

)

Projects the given point onto the plane of this node's surface.

The point will be projected down to a plane that contains the surface of the node. If the point is not contained inside the node, it is projected down onto this plane anyway.

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.

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.

uint Tag

Node tag.

bool? TmpWalkable

Temporary variable used internally when updating the graph.

Vector3 UnNormalizePoint (

Vector2

normalizedPointOnSurface

)

Transforms a normalized point on this node's surface to a world space point.

(0.5,0.5) represents the node's center. (0,0), (1,0), (1,1) and (0,1) each represent the corners of the node.

bool? Walkable

True if the node is traversable.

bool? WalkableErosion

Stores walkability before erosion is applied.

Used internally when updating the graph.

int XCoordinateInGrid

X coordinate of the node in the grid.

The node in the bottom left corner has (x,z) = (0,0) and the one in the opposite corner has (x,z) = (width-1, depth-1)

int ZCoordinateInGrid

Z coordinate of the node in the grid.

The node in the bottom left corner has (x,z) = (0,0) and the one in the opposite corner has (x,z) = (width-1, depth-1)

Connection[] connections

Custon non-grid connections from this node.

This field is removed if the ASTAR_GRID_NO_CUSTOM_CONNECTIONS compiler directive is used. Removing it can save a tiny bit of memory. You can enable the define in the Optimizations tab in the A* inspector.

Int3 position

Position of the node in world space.

const int GridFlagsAxisAlignedConnectionMask = 0xF << GridFlagsConnectionOffset

const int GridFlagsConnectionBit0 = 1 << GridFlagsConnectionOffset

const int GridFlagsConnectionMask = 0xFF << GridFlagsConnectionOffset

const int GridFlagsConnectionOffset = 0

const int GridFlagsEdgeNodeMask = 1 << GridFlagsEdgeNodeOffset

const int GridFlagsEdgeNodeOffset = 10

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.

ushort InternalGridFlags

Internal use only.

bool? IsHierarchicalNodeDirty

Some internal bookkeeping.

const int NodeInGridIndexMask = 0xFFFFFF

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.

void RemoveGridConnection (

GridNode

node

)

Removes a connection from the internal grid connections.

bool? TemporaryFlag1

Temporary flag for internal purposes.

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

bool? TemporaryFlag2

Temporary flag for internal purposes.

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

GridGraph[] _gridGraphs = new GridGraph[0]

uint flags

Bitpacked field holding several pieces of data.

ushort gridFlags

int nodeInGridIndex

Bitfield containing the x and z coordinates of the node as well as the layer (for layered grid graphs).

int[] offsetToDirection = { 7, 0, 4, 3, -1, 1, 6, 2, 5 }

Converts from dx + 3*dz to a neighbour direction.

Used by OffsetToConnectionDirection.

Assumes that dx and dz are both in the range [0,2].

bool GetConnectionInternal (

int

dir

)

True if the node has a connection in the specified direction.