Class RecastGraph Extends NavmeshBase, IUpdatableGraph

GraphTransform CalculateTransform ()

Returns a new transform which transforms graph space to world space.

Does not update the transform field.

void SnapForceBoundsToScene ()

Changes the bounds of the graph to precisely encapsulate all objects in the scene that can be included in the scanning process based on the settings.

Which objects are used depends on the settings. If an object would have affected the graph with the current settings if it would have been inside the bounds of the graph, it will be detected and the bounds will be expanded to contain that object.

This method corresponds to the 'Snap bounds to scene' button in the inspector.

const int BorderVertexMask = 1

const int BorderVertexOffset = 31

float cellSize = 0.5F

Voxel sample size (x,z).

When generating a recast graph what happens is that the world is voxelized. You can think of this as constructing an approximation of the world out of lots of boxes. If you have played Minecraft it looks very similar (but with smaller boxes).

Lower values will yield higher quality navmeshes, however the graph will be slower to scan.

float characterRadius = 1.5F

Radius of the agent which will traverse the navmesh.

The navmesh will be eroded with this radius.

float colliderRasterizeDetail = 10

Controls detail on rasterization of sphere and capsule colliders.

This controls the number of rows and columns on the generated meshes. A higher value does not necessarily increase quality of the mesh, but a lower value will often speed it up.

You should try to keep this value as low as possible without affecting the mesh quality since that will yield the fastest scan times.

float contourMaxError = 2F

Max distance from simplified edge to real edge.

This value is measured in voxels. So with the default value of 2 it means that the final navmesh contour may be at most 2 voxels (i.e 2 times cellSize) away from the border that was calculated when voxelizing the world. A higher value will yield a more simplified and cleaner navmesh while a lower value may capture more details. However a too low value will cause the individual voxels to be visible (see image below).

int editorTileSize = 128

Size in voxels of a single tile.

This is the width of the tile.

A large tile size can be faster to initially scan (but beware of out of memory issues if you try with a too large tile size in a large world) smaller tile sizes are (much) faster to update.

Different tile sizes can affect the quality of paths. It is often good to split up huge open areas into several tiles for better quality paths, but too small tiles can also lead to effects looking like invisible obstacles. For more information about this take a look at Notes about navmesh graphs. Usually it is best to experiment and see what works best for your game.

When scanning a recast graphs individual tiles can be calculated in parallel which can make it much faster to scan large worlds. When you want to recalculate a part of a recast graph, this can only be done on a tile-by-tile basis which means that if you often try to update a region of the recast graph much smaller than the tile size, then you will be doing a lot of unnecessary calculations. However if you on the other hand update regions of the recast graph that are much larger than the tile size then it may be slower than necessary as there is some overhead in having lots of tiles instead of a few larger ones (not that much though).

Recommended values are between 64 and 256, but these are very soft limits. It is possible to use both larger and smaller values.

Vector3 forcedBoundsCenter

Center of the bounding box.

Scanning will only be done inside the bounding box

LayerMask mask = -1

Layer mask which filters which objects to include.

float maxEdgeLength = 20

Longer edges will be subdivided.

Reducing this value can sometimes improve path quality since similarly sized triangles yield better paths than really large and really triangles small next to each other. However it will also add a lot more nodes which will make pathfinding slower. For more information about this take a look at Notes about navmesh graphs.

float maxSlope = 30

Max slope in degrees the character can traverse.

float minRegionSize = 3

Minumum region size.

Small regions will be removed from the navmesh. Measured in square world units (square meters in most games).

If a region is adjacent to a tile border, it will not be removed even though it is small since the adjacent tile might join it to form a larger region.

bool rasterizeColliders

Use colliders to calculate the navmesh.

bool rasterizeMeshes = true

Use scene meshes to calculate the navmesh.

bool rasterizeTerrain = true

Include the Terrain in the scene.

bool rasterizeTrees = true

Rasterize tree colliders on terrains.

If the tree prefab has a collider, that collider will be rasterized. Otherwise a simple box collider will be used and the script will try to adjust it to the tree's scale, it might not do a very good job though so an attached collider is preferable.

RelevantGraphSurfaceMode relevantGraphSurfaceMode = RelevantGraphSurfaceMode.DoNotRequire

Require every region to have a RelevantGraphSurface component inside it.

A RelevantGraphSurface component placed in the scene specifies that the navmesh region it is inside should be included in the navmesh.

If this is set to OnlyForCompletelyInsideTile a navmesh region is included in the navmesh if it has a RelevantGraphSurface inside it, or if it is adjacent to a tile border. This can leave some small regions which you didn't want to have included because they are adjacent to tile borders, but it removes the need to place a component in every single tile, which can be tedious (see below).

If this is set to RequireForAll a navmesh region is included only if it has a RelevantGraphSurface inside it. Note that even though the navmesh looks continous between tiles, the tiles are computed individually and therefore you need a RelevantGraphSurface component for each region and for each tile.

Vector3 rotation

Rotation of the graph in degrees.

bool scanEmptyGraph

If true, scanning the graph will yield a completely empty graph.

Useful if you want to replace the graph with a custom navmesh for example

List<string> tagMask = new List<string>()

Objects tagged with any of these tags will be rasterized.

Note that this extends the layer mask, so if you only want to use tags, set mask to 'Nothing'.

int terrainSampleSize = 3

Controls how large the sample size for the terrain is.

A higher value is faster to scan but less accurate

int tileSizeX = 128

Size of a tile along the X axis in voxels.

This is the width of the tile.

A large tile size can be faster to initially scan (but beware of out of memory issues if you try with a too large tile size in a large world) smaller tile sizes are (much) faster to update.

Different tile sizes can affect the quality of paths. It is often good to split up huge open areas into several tiles for better quality paths, but too small tiles can also lead to effects looking like invisible obstacles. For more information about this take a look at Notes about navmesh graphs. Usually it is best to experiment and see what works best for your game.

When scanning a recast graphs individual tiles can be calculated in parallel which can make it much faster to scan large worlds. When you want to recalculate a part of a recast graph, this can only be done on a tile-by-tile basis which means that if you often try to update a region of the recast graph much smaller than the tile size, then you will be doing a lot of unnecessary calculations. However if you on the other hand update regions of the recast graph that are much larger than the tile size then it may be slower than necessary as there is some overhead in having lots of tiles instead of a few larger ones (not that much though).

Recommended values are between 64 and 256, but these are very soft limits. It is possible to use both larger and smaller values.

int tileSizeZ = 128

Size of a tile along the Z axis in voxels.

This is the width of the tile.

A large tile size can be faster to initially scan (but beware of out of memory issues if you try with a too large tile size in a large world) smaller tile sizes are (much) faster to update.

Different tile sizes can affect the quality of paths. It is often good to split up huge open areas into several tiles for better quality paths, but too small tiles can also lead to effects looking like invisible obstacles. For more information about this take a look at Notes about navmesh graphs. Usually it is best to experiment and see what works best for your game.

When scanning a recast graphs individual tiles can be calculated in parallel which can make it much faster to scan large worlds. When you want to recalculate a part of a recast graph, this can only be done on a tile-by-tile basis which means that if you often try to update a region of the recast graph much smaller than the tile size, then you will be doing a lot of unnecessary calculations. However if you on the other hand update regions of the recast graph that are much larger than the tile size then it may be slower than necessary as there is some overhead in having lots of tiles instead of a few larger ones (not that much though).

Recommended values are between 64 and 256, but these are very soft limits. It is possible to use both larger and smaller values.

float TileWorldSizeX

float TileWorldSizeZ

bool useTiles = true

If true, divide the graph into tiles, otherwise use a single tile covering the whole graph.

float walkableClimb = 0.5F

Height the character can climb.

float walkableHeight = 2F

Character height.

RelevantGraphSurfaceMode

AstarPath active

Reference to the AstarPath object in the scene.

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.

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.

void EndBatchTileUpdate ()

End batch updating of tiles.

During batch updating, tiles will not be connected if they are updating with ReplaceTile. When ending batching, all affected tiles will be connected. This is faster than not using batching.

Vector3 forcedBoundsSize = new Vector3(100, 40, 100)

Size of the bounding box.

NNInfoInternal GetNearest (

Vector3

position

The position to try to find a close node to

)

Returns the nearest node to a position.

NNInfoInternal GetNearest (

Vector3	position	The position to try to find a close node to
NNConstraint	constraint	Can for example tell the function to try to return a walkable node. If you do not get a good node back, consider calling GetNearestForce.

)

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

NNInfoInternal GetNearest (

Vector3	position	The position to try to find a close node to
NNConstraint	constraint	Can for example tell the function to try to return a walkable node. If you do not get a good node back, consider calling GetNearestForce.
GraphNode	hint	Can be passed to enable some graph generators to find the nearest node faster.

)

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

NNInfoInternal GetNearestForce (

Vector3	position
NNConstraint	constraint

)

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

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);


NavmeshTile GetTile (

int	x
int	z

)

Tile at the specified x, z coordinate pair.

The first tile is at (0,0), the last tile at (tileXCount-1, tileZCount-1).

var graph = AstarPath.active.data.recastGraph;
int tileX = 5;
int tileZ = 8;
NavmeshTile tile = graph.GetTile(tileX, tileZ);

for (int i = 0; i < tile.nodes.Length; i++) {
// ...
}
// or you can access the nodes like this:
tile.GetNodes(node => {
// ...
});


Bounds GetTileBounds (

IntRect

rect

)

Returns a bounds object with the bounding box of a group of tiles.

The bounding box is defined in world space.

Bounds GetTileBounds (

int	x
int	z
int	width=1
int	depth=1

)

Returns a bounds object with the bounding box of a group of tiles.

The bounding box is defined in world space.

Bounds GetTileBoundsInGraphSpace (

IntRect

rect

)

Bounds GetTileBoundsInGraphSpace (

int	x
int	z
int	width=1
int	depth=1

)

Returns an XZ bounds object with the bounds of a group of tiles in graph space.

Int2 GetTileCoordinates (

Vector3

position

)

Returns the tile coordinate which contains the specified position.

It is not necessarily a valid tile (i.e it could be out of bounds).

void GetTileCoordinates (

int	tileIndex
out int	x
out int	z

)

Tile coordinates from a tile index.

int GetTileIndex (

int

index

)

Tile index from a vertex index.

NavmeshTile[] GetTiles ()

All tiles.

IntRect GetTouchingTiles (

Bounds

bounds

)

Returns a rect containing the indices of all tiles touching the specified bounds.

IntRect GetTouchingTilesInGraphSpace (

Rect

rect

Graph space rectangle (in graph space all tiles are on the XZ plane regardless of graph rotation and other transformations, the first tile has a corner at the origin)

)

Returns a rect containing the indices of all tiles touching the specified bounds.

IntRect GetTouchingTilesRound (

Bounds

bounds

)

Returns a rect containing the indices of all tiles by rounding the specified bounds to tile borders.

This is different from GetTouchingTiles in that the tiles inside the rectangle returned from this method may not contain the whole bounds, while that is guaranteed for GetTouchingTiles.

Int3 GetVertex (

int

index

)

Vertex coordinate for the specified vertex index.

int GetVertexArrayIndex (

int

index

)

Int3 GetVertexInGraphSpace (

int

index

)

Vertex coordinate in graph space for the specified vertex index.

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 Linecast (

Vector3	origin
Vector3	end

)

Returns if there is an obstacle between origin and end on the graph.

This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions instead of checking for collider intersection.

bool Linecast (

Vector3	origin	Point to linecast from
Vector3	end	Point to linecast to
GraphNode	hint	You need to pass the node closest to the start point

)

Returns if there is an obstacle between origin and end on the graph.

This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions instead of checking for collider intersection.

bool Linecast (

Vector3	origin	Point to linecast from
Vector3	end	Point to linecast to
GraphNode	hint	You need to pass the node closest to the start point
outGraphHitInfo	hit	Contains info on what was hit, see GraphHitInfo

)

Returns if there is an obstacle between origin and end on the graph.

This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions instead of checking for collider intersection.

bool Linecast (

Vector3	origin	Point to linecast from
Vector3	end	Point to linecast to
GraphNode	hint	You need to pass the node closest to the start point
outGraphHitInfo	hit	Contains info on what was hit, see GraphHitInfo
List<GraphNode>	trace	If a list is passed, then it will be filled with all nodes the linecast traverses

)

Returns if there is an obstacle between origin and end on the graph.

This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions instead of checking for collider intersection.

bool Linecast (

NavmeshBase	graph	The graph to perform the search on
Vector3	origin	Point to start from
Vector3	end	Point to linecast to
GraphNode	hint	You need to pass the node closest to the start point, if null, a search for the closest node will be done
outGraphHitInfo	hit	Contains info on what was hit, see GraphHitInfo

)

Returns if there is an obstacle between origin and end on the graph.

This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions instead of checking for collider intersection.

bool Linecast (

NavmeshBase	graph	The graph to perform the search on
Vector3	origin	Point to start from. This point should be on the navmesh. It will be snapped to the closest point on the navmesh otherwise.
Vector3	end	Point to linecast to
GraphNode	hint	If you already know the node which contains the origin point, you may pass it here for slighly improved performance. If null, a search for the closest node will be done.
outGraphHitInfo	hit	Contains info on what was hit, see GraphHitInfo
List<GraphNode>	trace	If a list is passed, then it will be filled with all nodes along the line up until it hits an obstacle or reaches the end.

)

Returns if there is an obstacle between origin and end on the graph.

This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions instead of checking for collider intersections.

string name

Name of the graph.

Can be set in the unity editor

bool nearestSearchOnlyXZ

Perform nearest node searches in XZ space only.

Recomended for single-layered environments. Faster but can be inaccurate esp. in multilayered contexts. You should not use this if the graph is rotated since then the XZ plane no longer corresponds to the ground plane.

This can be important on sloped surfaces. See the image below in which the closest point for each blue point is queried for:

You can also control this using a field on an NNConstraint object.

void OnDrawGizmos (

RetainedGizmos	gizmos
bool	drawNodes

)

Draw gizmos for the graph.

void OnDrawGizmos (

Pathfinding.Util.RetainedGizmos	gizmos
bool	drawNodes

)

System.Action<NavmeshTile[]> OnRecalculatedTiles

Called when tiles have been completely recalculated.

This is called after scanning the graph and after performing graph updates that completely recalculate tiles (not ones that simply modify e.g penalties). It is not called after NavmeshCut updates.

bool open

Is the graph open in the editor.

GraphNode PointOnNavmesh (

Vector3	position
NNConstraint	constraint

)

Finds the first node which contains position.

"Contains" is defined as position is inside the triangle node when seen from above. So only XZ space matters. In case of a multilayered environment, which node of the possibly several nodes containing the point is undefined.

Returns null if there was no node containing the point. This serves as a quick check for "is this point on the navmesh or not".

Note that the behaviour of this method is distinct from the GetNearest method. The GetNearest method will return the closest node to a point, which is not necessarily the one which contains it in XZ space.

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 RelocateNodes (

GraphTransform

newTransform

)

Moves the nodes in this graph.

Moves all the nodes in such a way that the specified transform is the new graph space to world space transformation for the graph. You usually use this together with the CalculateTransform method.

So for example if you want to move and rotate all your nodes in e.g a recast graph you can do var graph = AstarPath.data.recastGraph;
graph.rotation = new Vector3(45, 0, 0);
graph.forcedBoundsCenter = new Vector3(20, 10, 10);
var transform = graph.CalculateTransform();
graph.RelocateNodes(transform);
This will move all the nodes to new positions as if the new graph settings had been there from the start.

void ReplaceTile (

int	x
int	z
Int3[]	verts
int []	tris

)

Replace tile at index with nodes created from specified navmesh.

void ReplaceTile (

int	x
int	z
int	w
int	d
Int3[]	verts
int []	tris

)

Replaces a tile with a new mesh.

This will create new nodes and link them to the adjacent tile (unless batching has been started in which case that will be done when batching ends).

The vertices are assumed to be in 'tile space', that is being in a rectangle with one corner at the origin and one at (TileWorldSizeX, 0, TileWorldSizeZ).

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.

bool showMeshOutline = true

Show an outline of the polygons in the Unity Editor.

bool showMeshSurface

Show the surface of the navmesh.

bool showNodeConnections

Show the connections between the polygons in the Unity Editor.

void StartBatchTileUpdate ()

Start batch updating of tiles.

During batch updating, tiles will not be connected if they are updating with ReplaceTile. When ending batching, all affected tiles will be connected. This is faster than not using batching.

const int TileIndexMask = 0x7FFFF

const int TileIndexOffset = 12

int tileXCount

Number of tiles along the X-axis.

int tileZCount

Number of tiles along the Z-axis.

GraphTransform transform = new GraphTransform(Matrix4x4.identity)

Determines how the graph transforms graph space to world space.

const int VertexIndexMask = 0xFFF

NavmeshTile BuildTileMesh (

Voxelize	vox
int	x
int	z
int	threadIndex=0

)

Bounds CalculateTileBoundsWithBorder (

int	x
int	z

)

GraphUpdateThreadingIUpdatableGraph. CanUpdateAsync (

GraphUpdateObject

o

)

float CellHeight

int CharacterRadiusInVoxels

Convert character radius to a number of voxels.

void ClearTiles (

int	x
int	z
int	w
int	d

)

Clear all tiles within the rectangle with one corner at (x,z), width w and depth d.

List<RasterizationMesh> CollectMeshes (

Bounds

bounds

)

void ConnectTiles (

NavmeshTile	tile1
NavmeshTile	tile2

)

Generate connections between the two tiles.

The tiles must be adjacent.

void ConnectTileWithNeighbours (

NavmeshTile	tile
bool	onlyUnflagged=false

)

void CreateNodeConnections (

TriangleMeshNode[]

nodes

)

Create connections between all nodes.

TriangleMeshNode[] CreateNodes (

int []	tris
int	tileIndex
uint	graphIndex

)

NavmeshTile CreateTile (

Voxelize	vox
VoxelMesh	mesh
int	x
int	z
int	threadIndex

)

Create a tile at tile index x, z from the mesh.

void DeserializeExtraInfo (

GraphSerializationContext

ctx

)

Deserializes graph type specific node data.

void DestroyAllNodes ()

Destroys all nodes in the graph.

void DrawUnwalkableNodes (

float

size

)

bool exists

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

void FillWithEmptyTiles ()

Fills graph with tiles created by NewEmptyTile.

Voxelize globalVox

void InitializeTileInfo ()

float MaxTileConnectionEdgeDistance

NavmeshTile NewEmptyTile (

int	x
int	z

)

Creates a single new empty tile.

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 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

List<RasterizationMesh> [] PutMeshesIntoTileBuckets (

List<RasterizationMesh>

meshes

)

Creates a list for every tile and adds every mesh that touches a tile to the corresponding list.

bool RecalculateNormals

void RemoveConnectionsFromTile (

NavmeshTile

tile

)

void RemoveConnectionsFromTo (

NavmeshTile	a
NavmeshTile	b

)

IEnumerable<Progress> ScanAllTiles ()

IEnumerable<Progress> ScanInternal ()

Internal method to scan the graph.

Called from AstarPath.ScanAsync. Override this function to implement custom scanning logic. Progress objects can be yielded to show progress info in the editor and to split up processing over several frames when using async scanning.

void SerializeExtraInfo (

GraphSerializationContext

ctx

)

Serializes Node Info.

Should serialize:

• Base

  • Node Flags

  • Node Penalties

  • Node

• Node Positions (if applicable)

• Any other information necessary to load the graph in-game All settings marked with json attributes (e.g JsonMember) have already been saved as graph settings and do not need to be handled here.

It is not necessary for this implementation to be forward or backwards compatible.

List<NavmeshTile> stagingTiles = new List<NavmeshTile>()

List of tiles that have been calculated in a graph update, but have not yet been added to the graph.

When updating the graph in a separate thread, large changes cannot be made directly to the graph as other scripts might use the graph data structures at the same time in another thread. So the tiles are calculated, but they are not yet connected to the existing tiles that will be done in UpdateAreaPost which runs in the Unity thread.

int TileBorderSizeInVoxels

Number of extra voxels on each side of a tile to ensure accurate navmeshes near the tile border.

The width of a tile is expanded by 2 times this value (1x to the left and 1x to the right)

float TileBorderSizeInWorldUnits

NavmeshTile[] tiles

All tiles.

void IUpdatableGraph. UpdateArea (

GraphUpdateObject

o

)

Updates an area using the specified #GraphUpdateObject.

Notes to implementators. This function should (in order):

1. Call o.WillUpdateNode on the GUO for every node it will update, it is important that this is called BEFORE any changes are made to the nodes.

2. Update walkabilty using special settings such as the usePhysics flag used with the GridGraph.

3. Call Apply on the GUO for every node which should be updated with the GUO.

4. Update connectivity info if appropriate (GridGraphs updates connectivity, but most other graphs don't since then the connectivity cannot be recovered later).

void IUpdatableGraph. UpdateAreaInit (

GraphUpdateObject

o

)

May be called on the Unity thread before starting the update.

void IUpdatableGraph. UpdateAreaPost (

GraphUpdateObject

guo

)

Called on the Unity thread to complete a graph update.

Vector3 ClosestPointOnNode (

TriangleMeshNode	node
Vector3	pos

)

Returns the closest point of the node.

bool ContainsPoint (

TriangleMeshNode	node
Vector3	pos

)

Returns if the point is inside the node in XZ space.

void DeserializeSettingsCompatibility (

GraphSerializationContext

ctx

)

An old format for serializing settings.

Bounds forcedBounds

World bounds for the graph.

Defined as a bounds object with size forcedBoundsSize and centered at forcedBoundsCenter