Class GraphNode

void AddConnection (

GraphNode	node
uint	cost

)

void ClearConnections (

bool

alsoReverse

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

)

Remove all connections from this node.

bool ContainsConnection (

GraphNode

node

)

Checks if this node has a connection to the specified node.

void DeserializeNode (

GraphSerializationContext

ctx

)

Deserializes node data (for example when loading graphs from file).

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 FloodFill (

Stack<GraphNode>	stack
uint	region

)

Internal method to run a flood fill in order to recalculate the Area property.

void GetConnections (

System.Action<GraphNode>

action

)

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 (

System.Action<Connection>

action

)

Calls the delegate with all connections and respective costs from this node.

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 (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 Open (

Path	path
PathNode	pathNode
PathHandler	handler

)

Open the node.

Adds all neighbours of this node to the open list.

void OpenCooperative (

CooperativeABPath	path
PathNodeCooperative	pathNode
CooperativePathHandler	handler

)

Open the node cooperatively.

Adds all neighbours of this node to the open list.

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 RecalculateConnectionCosts ()

Recalculates all connection costs from this node.

Depending on the node type, this may or may not be supported. Nothing will be done if the operation is not supported

void RemoveConnection (

GraphNode

node

)

void SerializeNode (

GraphSerializationContext

ctx

)

Serializes node data (for example when saving graphs to file).

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.

float SurfaceArea ()

The surface area of the node in square world units.

void UpdateRecursiveG (

Path	path
PathNode	pathNode
PathHandler	handler

)

Internal method to update the G score.

Internal method to update the G score for this node and all children of it in the search graph

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.

For performance reasons the graph is split up into several connected components using a flood fill. This is done so that if a path request is made between two nodes for which there is no possible path then it should be able to abort quickly instead of having to search the whole graph (which can be very expensive). It is also used to better be able to search for target nodes for paths (it will try to find the closest target node that can be reached instead of just the closest node to the target point).

When a graph update is done, this value usually needs to be updated. When using a GraphUpdateObject, that is done automatically, but for other kinds of updates, you may need to call some functions to update it (see docs on updating graphs).

bool Destroyed

uint Flags

Holds various bitpacked variables.

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 uint MaxAreaIndex = FlagsAreaMask >> FlagsAreaOffset

const uint MaxGraphIndex = FlagsGraphMask >> FlagsGraphOffset

Max number of graphs-1.

int NodeIndex

Internal unique index.

This index is not necessarily correlated with e.g the position of the node in the graph.

Will be unique as long as the node is active. When the node is destroyed, the index may be reused by other nodes.

uint Penalty

Penalty cost for walking on this node.

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

Int3 position

Position of the node in world space.

uint Tag

Node tag.

bool Walkable

True if the node can be traversed.

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.

const int DestroyedNodeIndex = NodeIndexMask - 1

uint flags

Bitpacked field holding several pieces of data.

const uint FlagsAreaMask = (131072-1) << FlagsAreaOffset

Mask of area bits.

const int FlagsAreaOffset = 1

Start of area bits.

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

Mask of graph index bits.

const int FlagsGraphOffset = 24

Start of graph index bits.

const uint FlagsTagMask = (32-1) << 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.

GraphNode (

AstarPath

astar

)

Constructor for a graph node.

int nodeIndex

Internal unique index.

Also stores some bitpacked values such as TemporaryFlag1 and TemporaryFlag2. This index is not necessarily correlated with e.g the position of the node in the graph.

Will be unique as long as the node is active. When the node is destroyed, the index may be reused by other nodes.

const int NodeIndexMask = 0xFFFFFFF

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.

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