Class TriangleMeshNode Extends MeshNode

Vector3 ClosestPointOnNode (

Vector3

p

)

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

Vector3 ClosestPointOnNodeXZ (

Vector3

p

)

Closest point on the surface of this node when seen from above.

This is usually very similar to ClosestPointOnNode but when the node is in a slope this can be significantly different.

bool ContainsPoint (

Vector3

point

)

Checks if point is 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.

In graph space the up direction is always the Y axis so in principle we project the triangle down on the XZ plane and check if the point is inside the 2D triangle there.

void DeserializeNode (

GraphSerializationContext

ctx

)

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

void GetConnections (

System.Action<Connection>

action

)

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

bool GetPortal (

GraphNode	toNode
System.Collections.Generic.List<Vector3>	left
System.Collections.Generic.List<Vector3>	right
bool	backwards

)

bool GetPortal (

GraphNode	toNode
System.Collections.Generic.List<Vector3>	left
System.Collections.Generic.List<Vector3>	right
bool	backwards
out int	aIndex
out int	bIndex

)

Int3 GetVertex (

int

i

vertex index. Must be between 0 and GetVertexCount (exclusive).

)

Get a vertex of this node.

int GetVertexArrayIndex (

int

i

)

Return a number specifying an index in the source vertex array.

The vertex array can for example be contained in a recast tile, or be a navmesh graph, that is graph dependant. This is slower than GetVertexIndex, if you only need to compare vertices, use GetVertexIndex.

int GetVertexCount ()

Number of corner vertices that this node has.

For example for a triangle node this will return 3.

int GetVertexIndex (

int

i

)

Return a number identifying a vertex.

This number does not necessarily need to be a index in an array but two different vertices (in the same graph) should not have the same vertex numbers.

Int3 GetVertexInGraphSpace (

int

i

)

void GetVertices (

outInt3	v0
outInt3	v1
outInt3	v2

)

Returns all 3 vertices of this node in world space.

void GetVerticesInGraphSpace (

outInt3	v0
outInt3	v1
outInt3	v2

)

Returns all 3 vertices of this node in graph space.

void Open (

Path	path
PathNode	pathNode
PathHandler	handler

)

Open the node.

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 SerializeNode (

GraphSerializationContext

ctx

)

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

int SharedEdge (

GraphNode

other

)

Returns the edge which is shared with other.

If no edge is shared, -1 is returned. If there is a connection with the other node, but the connection is not marked as using a particular edge of the shape of the node then 0xFF will be returned.

The vertices in the edge can be retrieved using var edge = node.SharedEdge(other);
var a = node.GetVertex(edge);
var b = node.GetVertex((edge+1) % node.GetVertexCount());


float SurfaceArea ()

TriangleMeshNode (

AstarPath

astar

)

void UpdatePositionFromVertices ()

Set the position of this node to the average of its 3 vertices.

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

INavmeshHolder GetNavmeshHolder (

uint

graphIndex

)

void SetNavmeshHolder (

int	graphIndex
INavmeshHolder	graph

)

Sets the internal navmesh holder for a given graph index.

int v0

Internal vertex index for the first vertex.

int v1

Internal vertex index for the second vertex.

int v2

Internal vertex index for the third vertex.

void AddConnection (

GraphNode	node	Node to add a connection to
uint	cost	Cost of traversing the connection. A cost of 1000 corresponds approximately to the cost of moving 1 world unit.

)

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.

void AddConnection (

GraphNode	node	Node to add a connection to
uint	cost	Cost of traversing the connection. A cost of 1000 corresponds approximately to the cost of moving 1 world unit.
int	shapeEdge	Which edge on the shape of this node to use or -1 if no edge is used.

)

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.

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).

void ClearConnections (

bool

alsoReverse

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

)

Remove all connections from this node.

Connection[] connections

All connections from this node.

bool ContainsConnection (

GraphNode

node

)

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

bool ContainsPoint (

Int3

point

)

Checks if point is inside the 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.

bool Destroyed

uint Flags

Holds various bitpacked variables.

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);


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.

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.

void OpenCooperative (

CooperativeABPath	path
PathNodeCooperative	pathNode
CooperativePathHandler	handler

)

Open the node cooperatively.

Adds all neighbours of this node to the open list.

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.

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

)

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.

uint Tag

Node tag.

bool Walkable

True if the node can be traversed.

INavmeshHolder[] _navmeshHolders = new INavmeshHolder[0]

Holds INavmeshHolder references for all graph indices to be able to access them in a performant manner.

Int3 ClosestPointOnNodeXZInGraphSpace (

Vector3

p

)

Closest point on the node when seen from above.

This method is mostly for internal use as the Pathfinding.NavmeshBase.Linecast methods use it.

• The returned point is the closest one on the node to p when seen from above (relative to the graph). This is important mostly for sloped surfaces.

• The returned point is an Int3 point in graph space.

• It is guaranteed to be inside the node, so if you call ContainsPointInGraphSpace with the return value from this method the result is guaranteed to be true.

This method is slower than e.g ClosestPointOnNode or ClosestPointOnNodeXZ. However they do not have the same guarantees as this method has.

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.

uint flags

Bitpacked field holding several pieces of data.

System.Object lockObject = new System.Object()

Used for synchronised access to the _navmeshHolders array.

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.