A* Pathfinding Project
4.3.5
The A* Pathfinding Project for Unity 3D

Generates a grid of nodes. More...
Generates a grid of nodes.
The GridGraph does exactly what the name implies, generates nodes in a grid pattern.
Grid graphs suit well to when you already have a grid based world. Features:
The The Snap Size button snaps the internal size of the graph to exactly contain the current number of nodes, i.e not contain 100.3 nodes but exactly 100 nodes.
This will make the "center" coordinate more accurate.
Updating the graph during runtime
Any graph which implements the IUpdatableGraph interface can be updated during runtime.
For grid graphs this is a great feature since you can update only a small part of the grid without causing any lag like a complete rescan would.
If you for example just have instantiated a sphere obstacle in the scene and you want to update the grid where that sphere was instantiated, you can do this:
Where ob is the obstacle you just instantiated (a GameObject).
As you can see, the UpdateGraphs function takes a Bounds parameter and it will send an update call to all updateable graphs.
A grid graph will update that area and a small margin around it equal to collision testing diameter/2
Hexagon graphs
The graph can be configured to work like a hexagon graph with some simple settings. Since 4.1.x the grid graph has a 'Shape' dropdown. If you set it to 'Hexagonal' the graph will behave as a hexagon graph. Often you may want to rotate the graph +45 or 45 degrees.
Note however that the snapping to the closest node is not exactly as you would expect in a real hexagon graph, but it is close enough that you will likely not notice.
Configure using code
Tree colliders
It seems that Unity will only generate tree colliders at runtime when the game is started. For this reason, the grid graph will not pick up tree colliders when outside of play mode but it will pick them up once the game starts. If it still does not pick them up make sure that the trees actually have colliders attached to them and that the tree prefabs are in the correct layer (the layer should be included in the 'Collision Testing' mask).
Classes  
struct  GridGraphScanData 
struct  GridIndexMapper 
class  TextureData 
Used for using a texture as a source for a grid graph. More...  
Public Member Functions  
GridGraph ()  
virtual void  CalculateConnections (GridNodeBase node) 
Calculates the grid connections for a single node. More...  
virtual void  CalculateConnections (int x, int z, GridNode node) 
Calculates the grid connections for a single node. More...  
virtual void  CalculateConnections (int x, int z) 
Calculates the grid connections for a single node. More...  
void  CalculateConnectionsForCellAndNeighbours (int x, int z) 
Calculates the grid connections for a cell as well as its neighbours. More...  
GraphTransform  CalculateTransform () 
Returns a new transform which transforms graph space to world space. More...  
bool  CheckConnection (GridNode node, int dir) 
Returns if node is connected to it's neighbour in the specified direction. More...  
override int  CountNodes () 
Number of nodes in the graph. More...  
virtual void  ErodeWalkableArea () 
Erodes the walkable area. More...  
void  ErodeWalkableArea (int xmin, int zmin, int xmax, int zmax) 
Erodes the walkable area. More...  
void  GenerateMatrix () 
Generates the matrix used for translating nodes from grid coordinates to world coordinates. More...  
uint  GetConnectionCost (int dir) 
override NNInfoInternal  GetNearest (Vector3 position, NNConstraint constraint, GraphNode hint) 
Returns the nearest node to a position using the specified NNConstraint. More...  
override NNInfoInternal  GetNearestForce (Vector3 position, NNConstraint constraint) 
Returns the nearest node to a position using the specified constraint . More...  
virtual GridNodeBase  GetNode (int x, int z) 
Node in the specified cell. More...  
GridNode  GetNodeConnection (GridNode node, int dir) 
override void  GetNodes (System.Action< GraphNode > action) 
Calls a delegate with all nodes in the graph. More...  
List< GraphNode >  GetNodesInArea (Bounds bounds) 
List< GraphNode >  GetNodesInArea (GraphUpdateShape shape) 
List< GraphNode >  GetNodesInArea (Bounds bounds, GraphUpdateShape shape) 
List< GraphNode >  GetNodesInRegion (Bounds bounds) 
All nodes inside the bounding box. More...  
List< GraphNode >  GetNodesInRegion (GraphUpdateShape shape) 
All nodes inside the shape. More...  
virtual List< GraphNode >  GetNodesInRegion (IntRect rect) 
Get all nodes in a rectangle. More...  
virtual int  GetNodesInRegion (IntRect rect, GridNodeBase[] buffer) 
Get all nodes in a rectangle. More...  
Int3  GraphPointToWorld (int x, int z, float height) 
Transform a point in graph space to world space. More...  
bool  HasNodeConnection (GridNode node, int dir) 
bool  HasNodeConnection (int index, int x, int z, int dir) 
virtual bool  IsValidConnection (GridNodeBase node1, GridNodeBase node2) 
Returns true if a connection between the adjacent nodes n1 and n2 is valid. More...  
bool  Linecast (Vector3 from, Vector3 to) 
Returns if there is an obstacle between from and to on the graph. More...  
bool  Linecast (Vector3 from, Vector3 to, GraphNode hint) 
Returns if there is an obstacle between from and to on the graph. More...  
bool  Linecast (Vector3 from, Vector3 to, GraphNode hint, out GraphHitInfo hit) 
Returns if there is an obstacle between from and to on the graph. More...  
bool  Linecast (Vector3 from, Vector3 to, GraphNode hint, out GraphHitInfo hit, List< GraphNode > trace) 
Returns if there is an obstacle between from and to on the graph. More...  
bool  Linecast (GridNodeBase fromNode, GridNodeBase toNode) 
Returns if there is an obstacle between the two nodes on the graph. More...  
override void  OnDrawGizmos (RetainedGizmos gizmos, bool drawNodes) 
Draw gizmos for the graph. More...  
virtual void  RecalculateCell (int x, int z, bool resetPenalties=true, bool resetTags=true) 
Recalculates single node in the graph. More...  
override void  RelocateNodes (Matrix4x4 deltaMatrix) 
Moves the nodes in this graph. More...  
void  RelocateNodes (Vector3 center, Quaternion rotation, float nodeSize, float aspectRatio=1, float isometricAngle=0) 
Relocate the grid graph using new settings. More...  
void  SetDimensions (int width, int depth, float nodeSize) 
Updates unclampedSize from width, depth and nodeSize values. More...  
void  SetNodeConnection (GridNode node, int dir, bool value) 
void  SetNodeConnection (int index, int x, int z, int dir, bool value) 
Set if connection in the specified direction should be enabled. More...  
virtual void  SetUpOffsetsAndCosts () 
Sets up neighbourOffsets with the current settings. More...  
bool  SnappedLinecast (Vector3 from, Vector3 to, GraphNode hint, out GraphHitInfo hit) 
Returns if there is an obstacle between from and to on the graph. More...  
virtual void  UpdateNodePositionCollision (GridNode node, int x, int z, bool resetPenalty=true) 
Updates position, walkability and penalty for the node. More...  
void  UpdateSizeFromWidthDepth () 
Updates unclampedSize from width, depth and nodeSize values. More...  
void  UpdateTransform () 
Updates the transform field which transforms graph space to world space. More...  
Public Member Functions inherited from NavGraph  
NNInfoInternal  GetNearest (Vector3 position) 
Returns the nearest node to a position. More...  
NNInfoInternal  GetNearest (Vector3 position, NNConstraint constraint) 
Returns the nearest node to a position using the specified NNConstraint. More...  
void  GetNodes (System.Func< GraphNode, bool > action) 
Calls a delegate with all nodes in the graph until the delegate returns false. More...  
void  RelocateNodes (Matrix4x4 oldMatrix, Matrix4x4 newMatrix) 
Moves nodes in this graph. More...  
void  Scan () 
Scan the graph. More...  
void  ScanGraph () 
Scan the graph. More...  
void  SetMatrix (Matrix4x4 m) 
Use to set both matrix and inverseMatrix at the same time. More...  
Static Public Member Functions  
static void  CalculateConnections (GridNode node) 
Calculates the grid connections for a single node. More...  
static float  ConvertHexagonSizeToNodeSize (InspectorGridHexagonNodeSize mode, float value) 
static float  ConvertNodeSizeToHexagonSize (InspectorGridHexagonNodeSize mode, float value) 
Public Attributes  
const int  getNearestForceOverlap = 2 
In GetNearestForce, determines how far to search after a valid node has been found. More...  
readonly uint []  neighbourCosts = new uint[8] 
Costs to neighbour nodes. More...  
readonly int []  neighbourOffsets = new int[8] 
Index offset to get neighbour nodes. More...  
GridNode []  nodes 
All nodes in this graph. More...  
Public Attributes inherited from NavGraph  
AstarPath  active 
Reference to the AstarPath object in the scene. More...  
bool  drawGizmos = true 
Enable to draw gizmos in the Unity scene view. More...  
uint  graphIndex 
Index of the graph, used for identification purposes. More...  
Guid  guid 
Used as an ID of the graph, considered to be unique. More...  
bool  infoScreenOpen 
Used in the editor to check if the info screen is open. More...  
uint  initialPenalty 
Default penalty to apply to all nodes. More...  
Matrix4x4  inverseMatrix = Matrix4x4.identity 
Inverse of matrix. More...  
Matrix4x4  matrix = Matrix4x4.identity 
A matrix for translating/rotating/scaling the graph. More...  
string  name 
Name of the graph. More...  
bool  open 
Is the graph open in the editor. More...  
Static Public Attributes  
static int  BATCH_SIZE = 512 
static readonly int []  neighbourXOffsets = { 0, 1, 0, 1, 1, 1, 1, 1 } 
Offsets in the X direction for neighbour nodes. More...  
static readonly int []  neighbourZOffsets = { 1, 0, 1, 0, 1, 1, 1, 1 } 
Offsets in the Z direction for neighbour nodes. More...  
static bool  USE_BURST = true 
static bool  USE_BURST_UPDATE = true 
Protected Member Functions  
void  CalculateAffectedRegions (GraphUpdateObject o, out IntRect originalRect, out IntRect affectRect, out IntRect physicsRect, out bool willChangeWalkability, out int erosion) 
bool  ClipLineSegmentToBounds (Vector3 a, Vector3 b, out Vector3 outA, out Vector3 outB) 
Clips a line segment in graph space to the graph bounds. More...  
override void  DeserializeExtraInfo (GraphSerializationContext ctx) 
Deserializes graph type specific node data. More...  
override void  DeserializeSettingsCompatibility (GraphSerializationContext ctx) 
An old format for serializing settings. More...  
override void  DestroyAllNodes () 
Destroys all nodes in the graph. More...  
virtual bool  ErosionAnyFalseConnections (GraphNode baseNode) 
True if the node has any blocked connections. More...  
virtual List< GraphNode >  GetNodesInRegion (Bounds bounds, GraphUpdateShape shape) 
All nodes inside the shape or if null, the bounding box. More...  
IntRect  GetRectFromBounds (Bounds bounds) 
A rect with all nodes that the bounds could touch. More...  
void  JobPenaltyAngle (NativeArray< uint > nodePenalties, NativeArray< float4 > nodeNormals, Vector3 up, JobDependencyTracker dependencyTracker) 
void  JobPenaltyPosition (NativeArray< uint > nodePenalties, NativeArray< Vector3 > nodePositions, JobDependencyTracker dependencyTracker) 
override void  OnDestroy () 
This function will be called when this graph is destroyed. More...  
override void  PostDeserialization (GraphSerializationContext ctx) 
Called after all deserialization has been done for all graphs. More...  
override IEnumerable< Progress >  ScanInternal (bool async) 
Internal method to scan the graph. More...  
override void  SerializeExtraInfo (GraphSerializationContext ctx) 
Serializes graph type specific node data. More...  
Protected Member Functions inherited from NavGraph  
void  DrawUnwalkableNodes (float size) 
virtual IEnumerable< Progress >  ScanInternal () 
Internal method to scan the graph. More...  
Static Protected Member Functions  
static float  CrossMagnitude (Vector2 a, Vector2 b) 
Magnitude of the cross product a x b. More...  
static long  CrossMagnitude (Int2 a, Int2 b) 
Magnitude of the cross product a x b. More...  
Static Package Attributes  
static readonly int []  hexagonNeighbourIndices = { 0, 1, 5, 2, 3, 7 } 
Which neighbours are going to be used when neighbours=6. More...  
Properties  
int  Depth [get, set] 
virtual int  LayerCount [get] 
Number of layers in the graph. More...  
Vector2  size [get, protected set] 
Size of the grid. More...  
GraphTransform  transform [get, private set] 
Determines how the graph transforms graph space to world space. More...  
virtual bool  uniformWidthDepthGrid [get] 
This is placed here so generators inheriting from this one can override it and set it to false. More...  
int  Width [get, set] 
Properties inherited from NavGraph  
bool  exists [get] 
True if the graph exists, false if it has been destroyed. More...  
string IGraphInternals.  SerializedEditorSettings [get, set] 
Properties inherited from IGraphInternals  
string  SerializedEditorSettings [get, set] 
Properties inherited from ITransformedGraph  
GraphTransform  transform [get] 
Private Member Functions  
void  CalculateDimensions (out int width, out int depth, out float nodeSize) 
Calculates the width/depth of the graph from unclampedSize and nodeSize. More...  
GraphUpdateThreading IUpdatableGraph.  CanUpdateAsync (GraphUpdateObject o) 
void  CreateNavmeshSurfaceVisualization (GridNodeBase[] nodes, int nodeCount, GraphGizmoHelper helper) 
Draw the surface as well as an outline of the grid graph. More...  
void  ErodeNode (GraphNode node) 
Internal method used for erosion. More...  
void  ErodeNodeWithTags (GraphNode node, int iteration) 
Internal method used for erosion. More...  
void  ErodeNodeWithTagsInit (GraphNode node) 
Internal method used for erosion. More...  
GridNode  GetNodeConnection (int index, int x, int z, int dir) 
Get the connecting node from the node at (x,z) in the specified direction. More...  
void  RemoveGridGraphFromStatic () 
IEnumerable< Progress >  ScanInternalBurst (bool async) 
void IUpdatableGraph.  UpdateArea (GraphUpdateObject o) 
Internal function to update an area of the graph. More...  
JobHandle  UpdateAreaBurst (GridNode[] newNodes, Int2 nodeArrayBounds, IntRect bounds, JobDependencyTracker dependencyTracker, JobHandle nodesDependsOn, Allocator allocationMethod, bool allowReadFromGraph, GraphUpdateObject graphUpdateObject=null) 
void IUpdatableGraph.  UpdateAreaInit (GraphUpdateObject o) 
May be called on the Unity thread before starting the update. More...  
void IUpdatableGraph.  UpdateAreaPost (GraphUpdateObject o) 
May be called on the Unity thread after executing the update. More...  
Inspector  Settings  
float  maxClimb [get, set] 
The max y coordinate difference between two nodes to enable a connection. More...  
bool  useRaycastNormal [get] 
Use heigh raycasting normal for max slope calculation. More...  
InspectorGridMode  inspectorGridMode = InspectorGridMode.Grid 
Determines the layout of the grid graph inspector in the Unity Editor. More...  
InspectorGridHexagonNodeSize  inspectorHexagonSizeMode = InspectorGridHexagonNodeSize.Width 
Determines how the size of each hexagon is set in the inspector. More...  
int  width 
Width of the grid in nodes. More...  
int  depth 
Depth (height) of the grid in nodes. More...  
float  aspectRatio = 1F 
Scaling of the graph along the X axis. More...  
float  isometricAngle 
Angle to use for the isometric projection. More...  
bool  uniformEdgeCosts 
If true, all edge costs will be set to the same value. More...  
Vector3  rotation 
Rotation of the grid in degrees. More...  
Vector3  center 
Center point of the grid. More...  
Vector2  unclampedSize 
Size of the grid. More...  
float  nodeSize = 1 
Size of one node in world units. More...  
GraphCollision  collision 
Settings on how to check for walkability and height. More...  
float  maxStepHeight = 0.4F 
The max y coordinate difference between two nodes to enable a connection. More...  
bool  maxStepUsesSlope = true 
Take the slope into account for maxClimb. More...  
float  maxSlope = 90 
The max slope in degrees for a node to be walkable. More...  
int  erodeIterations 
Erosion of the graph. More...  
bool  erosionUseTags 
Use tags instead of walkability for erosion. More...  
int  erosionFirstTag = 1 
Tag to start from when using tags for erosion. More...  
NumNeighbours  neighbours = NumNeighbours.Eight 
Number of neighbours for each node. More...  
bool  cutCorners = true 
If disabled, will not cut corners on obstacles. More...  
float  penaltyPositionOffset 
Offset for the position when calculating penalty. More...  
bool  penaltyPosition 
Use position (ycoordinate) to calculate penalty. More...  
float  penaltyPositionFactor = 1F 
Scale factor for penalty when calculating from position. More...  
bool  penaltyAngle 
float  penaltyAngleFactor = 100F 
How much penalty is applied depending on the slope of the terrain. More...  
float  penaltyAnglePower = 1 
How much extra to penalize very steep angles. More...  
bool  useJumpPointSearch 
Use jump point search to speed up pathfinding. More...  
bool  showMeshOutline = true 
Show an outline of the grid nodes in the Unity Editor. More...  
bool  showNodeConnections 
Show the connections between the grid nodes in the Unity Editor. More...  
bool  showMeshSurface = true 
Show the surface of the graph. More...  
TextureData  textureData = new TextureData() 
Holds settings for using a texture as source for a grid graph. More...  
GridGraph  (  ) 

protected 

static 
Calculates the grid connections for a single node.

virtual 
Calculates the grid connections for a single node.
Convenience function, it's slightly faster to use CalculateConnections(int,int) but that will only show when calculating for a large number of nodes. This function will also work for both grid graphs and layered grid graphs.
Reimplemented in LayerGridGraph.

virtual 
Calculates the grid connections for a single node.

virtual 
Calculates the grid connections for a single node.
Note that to ensure that connections are completely up to date after updating a node you have to calculate the connections for both the changed node and its neighbours.
In a layered grid graph, this will recalculate the connections for all nodes in the (x,z) cell (it may have multiple layers of nodes).
Reimplemented in LayerGridGraph.
void CalculateConnectionsForCellAndNeighbours  (  int  x, 
int  z  
) 
Calculates the grid connections for a cell as well as its neighbours.
This is a useful utility function if you want to modify the walkability of a single node in the graph.

private 
Calculates the width/depth of the graph from unclampedSize and nodeSize.
The node size may be changed due to constraints that the width/depth is not allowed to be larger than 1024 (artificial limit).
GraphTransform CalculateTransform  (  ) 
Returns a new transform which transforms graph space to world space.
Does not update the transform field.

private 
Implements IUpdatableGraph.
bool CheckConnection  (  GridNode  node, 
int  dir  
) 
Returns if node is connected to it's neighbour in the specified direction.
This will also return true if neighbours = NumNeighbours.Four, the direction is diagonal and one can move through one of the adjacent nodes to the targeted node.

protected 
Clips a line segment in graph space to the graph bounds.
That is (0,0,0) is the bottom left corner of the graph and (width,0,depth) is the top right corner. The first node is placed at (0.5,y,0.5). One unit distance is the same as nodeSize.
Returns false if the line segment does not intersect the graph at all.

static 

static 

virtual 
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.
Reimplemented from NavGraph.
Reimplemented in LayerGridGraph.

private 
Draw the surface as well as an outline of the grid graph.
The nodes will be drawn as squares (or hexagons when using neighbours = Six).

staticprotected 
Magnitude of the cross product a x b.

protectedvirtual 
Deserializes graph type specific node data.
Reimplemented from NavGraph.
Reimplemented in LayerGridGraph.

protectedvirtual 
An old format for serializing settings.
Reimplemented from NavGraph.

protectedvirtual 
Destroys all nodes in the graph.
Reimplemented from NavGraph.

private 
Internal method used for erosion.

private 
Internal method used for erosion.

private 
Internal method used for erosion.

virtual 
Erodes the walkable area.
void ErodeWalkableArea  (  int  xmin, 
int  zmin,  
int  xmax,  
int  zmax  
) 

protectedvirtual 
True if the node has any blocked connections.
For 4 and 8 neighbours the 4 axis aligned connections will be checked. For 6 neighbours all 6 neighbours will be checked.
Internal method used for erosion.
Reimplemented in LayerGridGraph.
void GenerateMatrix  (  ) 
Generates the matrix used for translating nodes from grid coordinates to world coordinates.
uint GetConnectionCost  (  int  dir  ) 

virtual 
Returns the nearest node to a position using the specified NNConstraint.
position  The position to try to find a close node to 
hint  Can be passed to enable some graph generators to find the nearest node faster. 
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. 
Reimplemented from NavGraph.
Reimplemented in LayerGridGraph.

virtual 
Returns the nearest node to a position using the specified constraint .
Reimplemented from NavGraph.
Reimplemented in LayerGridGraph.

virtual 
Node in the specified cell.
Returns null if the coordinate is outside the grid.
If you know the coordinate is inside the grid and you are looking to maximize performance then you can look up the node in the internal array directly which is slightly faster.
Reimplemented in LayerGridGraph.

private 

virtual 
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.
If you want to store all nodes in a list you can do this
Implements NavGraph.
Reimplemented in LayerGridGraph.
List<GraphNode> GetNodesInArea  (  Bounds  bounds  ) 
List<GraphNode> GetNodesInArea  (  GraphUpdateShape  shape  ) 
List<GraphNode> GetNodesInArea  (  Bounds  bounds, 
GraphUpdateShape  shape  
) 
List<GraphNode> GetNodesInRegion  (  Bounds  bounds  ) 
All nodes inside the bounding box.
List<GraphNode> GetNodesInRegion  (  GraphUpdateShape  shape  ) 
All nodes inside the shape.

protectedvirtual 
All nodes inside the shape or if null, the bounding box.
If a shape is supplied, it is assumed to be contained inside the bounding box.
Reimplemented in LayerGridGraph.
Get all nodes in a rectangle.
rect  Region in which to return nodes. It will be clamped to the grid. 
Reimplemented in LayerGridGraph.

virtual 
Get all nodes in a rectangle.
rect  Region in which to return nodes. It will be clamped to the grid. 
buffer  Buffer in which the nodes will be stored. Should be at least as large as the number of nodes that can exist in that region. 
Reimplemented in LayerGridGraph.

protected 
A rect with all nodes that the bounds could touch.
This correctly handles rotated graphs and other transformations. The returned rect is guaranteed to not extend outside the graph bounds.
Int3 GraphPointToWorld  (  int  x, 
int  z,  
float  height  
) 
Transform a point in graph space to world space.
This will give you the node position for the node at the given x and z coordinate if it is at the specified height above the base of the graph.
bool HasNodeConnection  (  GridNode  node, 
int  dir  
) 
bool HasNodeConnection  (  int  index, 
int  x,  
int  z,  
int  dir  
) 

virtual 
Returns true if a connection between the adjacent nodes n1 and n2 is valid.
Also takes into account if the nodes are walkable.
This method may be overriden if you want to customize what connections are valid. It must however hold that IsValidConnection(a,b) == IsValidConnection(b,a).
This is used for calculating the connections when the graph is scanned or updated.

protected 

protected 
bool Linecast  (  Vector3  from, 
Vector3  to  
) 
Returns if there is an obstacle between from and to on the graph.
This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions.
Implements IRaycastableGraph.
bool Linecast  (  Vector3  from, 
Vector3  to,  
GraphNode  hint  
) 
Returns if there is an obstacle between from and to on the graph.
[in]  from  Point to linecast from 
[in]  to  Point to linecast to 
[in]  hint  This parameter is deprecated. It will be ignored. 
This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions.
Implements IRaycastableGraph.
bool Linecast  (  Vector3  from, 
Vector3  to,  
GraphNode  hint,  
out GraphHitInfo  hit  
) 
Returns if there is an obstacle between from and to on the graph.
[in]  from  Point to linecast from 
[in]  to  Point to linecast to 
[out]  hit  Contains info on what was hit, see GraphHitInfo 
[in]  hint  This parameter is deprecated. It will be ignored. 
This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions.
Implements IRaycastableGraph.
bool Linecast  (  Vector3  from, 
Vector3  to,  
GraphNode  hint,  
out GraphHitInfo  hit,  
List< GraphNode >  trace  
) 
Returns if there is an obstacle between from and to on the graph.
[in]  from  Point to linecast from 
[in]  to  Point to linecast to 
[out]  hit  Contains info on what was hit, see GraphHitInfo 
[in]  hint  This parameter is deprecated. It will be ignored. 
trace  If a list is passed, then it will be filled with all nodes the linecast traverses 
This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions.
Implements IRaycastableGraph.
bool Linecast  (  GridNodeBase  fromNode, 
GridNodeBase  toNode  
) 
Returns if there is an obstacle between the two nodes on the graph.
This method is very similar to the other Linecast methods however it is much faster due to being able to use only integer math and not having to look up which node is closest to a particular input point.

protectedvirtual 
This function will be called when this graph is destroyed.
Reimplemented from NavGraph.
Reimplemented in LayerGridGraph.

virtual 
Draw gizmos for the graph.
Reimplemented from NavGraph.

protectedvirtual 
Called after all deserialization has been done for all graphs.
Can be used to set up more graph data which is not serialized
Reimplemented from NavGraph.
Reimplemented in LayerGridGraph.

virtual 
Recalculates single node in the graph.
For a layered grid graph this will recalculate all nodes at a specific (x,z) cell in the grid. For grid graphs this will simply recalculate the single node at those coordinates.
x  X coordinate of the cell 
z  Z coordinate of the cell 
resetPenalties  If true, the penalty of the nodes will be reset to the initial value as if the graph had just been scanned (this excludes texture data however which is only done when scanning the graph). 
resetTags  If true, the tag will be reset to zero (the default tag). 
Reimplemented in LayerGridGraph.

virtual 
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
Reimplemented from NavGraph.
void RelocateNodes  (  Vector3  center, 
Quaternion  rotation,  
float  nodeSize,  
float  aspectRatio = 1 , 

float  isometricAngle = 0 

) 
Relocate the grid graph using new settings.
This will move all nodes in the graph to new positions which matches the new settings.

private 

protectedvirtual 
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.
Reimplemented from NavGraph.

private 

protectedvirtual 
Serializes graph type specific node data.
This function can be overriden to serialize extra node information (or graph information for that matter) which cannot be serialized using the standard serialization. Serialize the data in any way you want and return a byte array. When loading, the exact same byte array will be passed to the DeserializeExtraInfo function.
These functions will only be called if node serialization is enabled.
Reimplemented from NavGraph.
Reimplemented in LayerGridGraph.
void SetDimensions  (  int  width, 
int  depth,  
float  nodeSize  
) 
Updates unclampedSize from width, depth and nodeSize values.
Also generates a new matrix .
You should use this method instead of setting the width and depth fields as the grid dimensions are not defined by the width and depth variables but by the unclampedSize and center variables.
void SetNodeConnection  (  GridNode  node, 
int  dir,  
bool  value  
) 
void SetNodeConnection  (  int  index, 
int  x,  
int  z,  
int  dir,  
bool  value  
) 
Set if connection in the specified direction should be enabled.
Note that bounds checking will still be done when getting the connection value again, so it is not necessarily true that HasNodeConnection will return true just because you used SetNodeConnection on a node to set a connection to true.
index  Index of the node 
x  X coordinate of the node 
z  Z coordinate of the node 
dir  Direction from 0 up to but excluding 8. 
value  Enable or disable the connection 

virtual 
Sets up neighbourOffsets with the current settings.
neighbourOffsets, neighbourCosts, neighbourXOffsets and neighbourZOffsets are set up.
The cost for a nondiagonal movement between two adjacent nodes is RoundToInt (nodeSize * Int3.Precision)
The cost for a diagonal movement between two adjacent nodes is RoundToInt (nodeSize * Sqrt (2) * Int3.Precision)
bool SnappedLinecast  (  Vector3  from, 
Vector3  to,  
GraphNode  hint,  
out GraphHitInfo  hit  
) 
Returns if there is an obstacle between from and to on the graph.
[in]  from  Point to linecast from. 
[in]  to  Point to linecast to. 
[out]  hit  Contains info on what was hit, see GraphHitInfo. 
[in]  hint  This parameter is deprecated. It will be ignored. 
This function is different from the other Linecast functions since it snaps the start and end positions to the centers of the closest nodes on the graph. This is not the same as Physics.Linecast, this function traverses the graph and looks for collisions.

private 
Internal function to update an area of the graph.
Implements IUpdatableGraph.

private 

private 
May be called on the Unity thread before starting the update.
Implements IUpdatableGraph.

private 
May be called on the Unity thread after executing the update.
Implements IUpdatableGraph.

virtual 
Updates position, walkability and penalty for the node.
Assumes that collision.Initialize (...) has been called before this function
void UpdateSizeFromWidthDepth  (  ) 
Updates unclampedSize from width, depth and nodeSize values.
void UpdateTransform  (  ) 
Updates the transform field which transforms graph space to world space.
In graph space all nodes are laid out in the XZ plane with the first node having a corner in the origin. One unit in graph space is one node so the first node in the graph is at (0.5,0) the second one at (1.5,0) etc.
This takes the current values of the parameters such as position and rotation into account. The transform that was used the last time the graph was scanned is stored in the transform field.
The transform field is calculated using this method when the graph is scanned. The width, depth variables are also updated based on the unclampedSize field.
float aspectRatio = 1F 
Scaling of the graph along the X axis.
This should be used if you want different scales on the X and Y axis of the grid

static 
Vector3 center 
Center point of the grid.
GraphCollision collision 
Settings on how to check for walkability and height.
bool cutCorners = true 
If disabled, will not cut corners on obstacles.
If connections is Eight, obstacle corners might be cut by a connection, setting this to false disables that.
int depth 
Depth (height) of the grid in nodes.
int erodeIterations 
Erosion of the graph.
The graph can be eroded after calculation. This means a margin is put around unwalkable nodes or other unwalkable connections. It is really good if your graph contains ledges where the nodes without erosion are walkable too close to the edge.
Below is an image showing a graph with erode iterations 0, 1 and 2
int erosionFirstTag = 1 
Tag to start from when using tags for erosion.
bool erosionUseTags 
Use tags instead of walkability for erosion.
Tags will be used for erosion instead of marking nodes as unwalkable. The nodes will be marked with tags in an increasing order starting with the tag erosionFirstTag. Debug with the Tags mode to see the effect. With this enabled you can in effect set how close different AIs are allowed to get to walls using the Valid Tags field on the Seeker component.
const int getNearestForceOverlap = 2 
In GetNearestForce, determines how far to search after a valid node has been found.

staticpackage 
Which neighbours are going to be used when neighbours=6.
InspectorGridMode inspectorGridMode = InspectorGridMode.Grid 
Determines the layout of the grid graph inspector in the Unity Editor.
This field is only used in the editor, it has no effect on the rest of the game whatsoever.
InspectorGridHexagonNodeSize inspectorHexagonSizeMode = InspectorGridHexagonNodeSize.Width 
Determines how the size of each hexagon is set in the inspector.
For hexagons the normal nodeSize field doesn't really correspond to anything specific on the hexagon's geometry, so this enum is used to give the user the opportunity to adjust more concrete dimensions of the hexagons without having to pull out a calculator to calculate all the square roots and complicated conversion factors.
This field is only used in the graph inspector, the nodeSize field will always use the same internal units. If you want to set the node size through code then you can use ConvertHexagonSizeToNodeSize.
float isometricAngle 
Angle to use for the isometric projection.
If you are making a 2D isometric game, you may want to use this parameter to adjust the layout of the graph to match your game. This will essentially scale the graph along one of its diagonals to produce something like this:
A perspective view of an isometric graph.
A top down view of an isometric graph. Note that the graph is entirely 2D, there is no perspective in this image.
Usually the angle that you want to use is either 30 degrees (alternatively 9030 = 60 degrees) or atan(1/sqrt(2)) which is approximately 35.264 degrees (alternatively 90  35.264 = 54.736 degrees). You might also want to rotate the graph plus or minus 45 degrees around the Y axis to get the oritientation required for your game.
You can read more about it on the wikipedia page linked below.
float maxSlope = 90 
The max slope in degrees for a node to be walkable.
float maxStepHeight = 0.4F 
The max y coordinate difference between two nodes to enable a connection.
Set to 0 to ignore the value.
This affects for example how the graph is generated around ledges and stairs.
bool maxStepUsesSlope = true 
Take the slope into account for maxClimb.
When this is enabled the normals of the terrain will be used to make more accurate estimates of how large the steps are between adjacent nodes.
When this is disabled then calculated step between two nodes is their y coordinate difference. This may be inaccurate, especially at the start of steep slopes.
In the image below you can see an example of what happens near a ramp. In the topmost image the ramp is not connected with the rest of the graph which is obviously not what we want. In the middle image an attempt has been made to raise the max step height while keeping maxStepUsesSlope disabled. However this causes too many connections to be added. The agent should not be able to go up the ramp from the side. Finally in the bottommost image the maxStepHeight has been restored to the original value but maxStepUsesSlope has been enabled. This configuration handles the ramp in a much smarter way. Note that all the values in the image are just example values, they may be different for your scene.
readonly uint [] neighbourCosts = new uint[8] 
Costs to neighbour nodes.
readonly int [] neighbourOffsets = new int[8] 
Index offset to get neighbour nodes.
Added to a node's index to get a neighbour node index.
NumNeighbours neighbours = NumNeighbours.Eight 
Number of neighbours for each node.
Either four, six, eight connections per node.
Six connections is primarily for emulating hexagon graphs.

static 
Offsets in the X direction for neighbour nodes.
Only 1, 0 or 1

static 
Offsets in the Z direction for neighbour nodes.
Only 1, 0 or 1
GridNode [] nodes 
All nodes in this graph.
Nodes are laid out row by row.
The first node has grid coordinates X=0, Z=0, the second one X=1, Z=0
the last one has grid coordinates X=width1, Z=depth1.
float nodeSize = 1 
Size of one node in world units.
bool penaltyAngle 
float penaltyAngleFactor = 100F 
How much penalty is applied depending on the slope of the terrain.
At a 90 degree slope (not that exactly 90 degree slopes can occur, but almost 90 degree), this penalty is applied. At a 45 degree slope, half of this is applied and so on. Note that you may require very large values, a value of 1000 is equivalent to the cost of moving 1 world unit.
float penaltyAnglePower = 1 
How much extra to penalize very steep angles.
bool penaltyPosition 
Use position (ycoordinate) to calculate penalty.
float penaltyPositionFactor = 1F 
Scale factor for penalty when calculating from position.
float penaltyPositionOffset 
Offset for the position when calculating penalty.
Vector3 rotation 
Rotation of the grid in degrees.
bool showMeshOutline = true 
Show an outline of the grid nodes in the Unity Editor.
bool showMeshSurface = true 
Show the surface of the graph.
Each node will be drawn as a square (unless e.g hexagon graph mode has been enabled).
bool showNodeConnections 
Show the connections between the grid nodes in the Unity Editor.
TextureData textureData = new TextureData() 
Holds settings for using a texture as source for a grid graph.
Texure data can be used for fine grained control over how the graph will look. It can be used for positioning, penalty and walkability control.
Below is a screenshot of a grid graph with a penalty map applied. It has the effect of the AI taking the longer path along the green (low penalty) areas.
Vector2 unclampedSize 
Size of the grid.
Might be negative or smaller than nodeSize
bool uniformEdgeCosts 
If true, all edge costs will be set to the same value.
If false, diagonals will cost more. This is useful for a hexagon graph where the diagonals are actually the same length as the normal edges (since the graph has been skewed)

static 

static 
bool useJumpPointSearch 
Use jump point search to speed up pathfinding.
Jump point search can improve pathfinding performance significantly by making use of some assumptions of the graph. More specifically it assumes a grid graph with no penalties.
int width 
Width of the grid in nodes.

getset 

get 
Number of layers in the graph.
For grid graphs this is always 1, for layered grid graphs it can be higher. The nodes array has the size width*depth*layerCount.

getset 
The max y coordinate difference between two nodes to enable a connection.

getprotected set 

getprivate set 
Determines how the graph transforms graph space to world space.

get 
This is placed here so generators inheriting from this one can override it and set it to false.
If it is true, it means that the nodes array's length will always be equal to width*depth It is used mainly in the editor to do autoscanning calls, setting it to false for a nonuniform grid will reduce the number of scans

getprotected 
Use heigh raycasting normal for max slope calculation.
True if maxSlope is less than 90 degrees.

getset 