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. When the blue point in the above image is used as an argument this method call will return the green point while the ClosestPointOnNode method will return the red point.

bool ContainsPoint (

Vector3

point

)

Checks if point is inside the node when seen from above.

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 the node data from a byte array.

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.

Int3 GetVertexInGraphSpace (

int

i

)

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.

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.

Used internally for the A* algorithm.

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

)

Serialized the node data to a byte array.

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 ()

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

)

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.

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.

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.AddConnection(node2, cost);
node2.AddConnection(node1, cost);

node1.ContainsConnection(node2); // True

node1.RemoveConnection(node2);
node2.RemoveConnection(node1);
}));


bool ContainsPoint (

Int3

point

)

Checks if point is inside the node when seen from above.

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

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

)

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 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 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.

uint? Penalty

Penalty cost for walking on this node.

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

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.

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 AddConnection method. For example if your manually change the Pathfinding.MeshNode.connections array you need to call this method.

uint Tag

Node tag.

bool? Walkable

True if the node is traversable.

Connection[] connections

All connections from this node.

Int3 position

Position of the node in world space.

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.

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.

bool? IsHierarchicalNodeDirty

Some internal bookkeeping.

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.

INavmeshHolder[] _navmeshHolders = new INavmeshHolder[0]

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

uint flags

Bitpacked field holding several pieces of data.

System.Object lockObject = new System.Object()

Used for synchronised access to the _navmeshHolders array.