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

p

)

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 ContainsPoint (

Vector3	p
NativeMovementPlane	movementPlane

)

Checks if point is inside the node when seen from above, as defined by the movement plane.

bool ContainsPointInGraphSpace (

Int3

p

)

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.

Int3 DecodeVariantPosition (

uint	pathNodeIndex
uint	fractionAlongEdge

)

The position of the path node during the search.

When an A* search on triangle nodes is carried out, each edge of the node is a separate path node variant. The search will additionally decide where on that edge the path node is located. This is encoded by the fractionAlongEdge variable. This function decodes the position of the path node.

void DeserializeNode (

GraphSerializationContext

ctx

)

Deserializes the node data from a byte array.

bool GetPortal (

GraphNode	other	The node which is on the other side of the portal.
out Vector3	left	Output left side of the portal.
out Vector3	right	Output right side of the portal.

)

Add a portal from this node to the specified node.

This function returns a portal which connects this node to the given adjacenet node.

The default implementation simply returns false.

bool GetPortal (

GraphNode	toNode
out Vector3	left
out Vector3	right
out int	aIndex
out int	bIndex

)

bool GetPortalInGraphSpace (

TriangleMeshNode	toNode
outInt3	a
outInt3	b
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
uint	pathNodeIndex
uint	gScore

)

Open the node.

Used internally by the A* algorithm.

void OpenAtPoint (

Path	path
uint	pathNodeIndex
Int3	position
uint	gScore

)

Open the node at a specific point.

Used internally by the A* algorithm.

Used when a path starts inside a node, or when an off-mesh link is used to move to a point inside this node.

Vector3 ProjectOnSurface (

Vector3

point

)

Projects the given point onto the plane of this node's surface.

The point will be projected down to a plane that contains the surface of the node. If the point is not contained inside the node, it is projected down onto this plane anyway.

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 there is no shared edge between the two nodes, then -1 is 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.

INavmeshHolder GetNavmeshHolder (

uint

graphIndex

)

void SetNavmeshHolder (

int	graphIndex
INavmeshHolder	graph

)

Sets the internal navmesh holder for a given graph index.

bool InaccuratePathSearch = false

Legacy compatibility.

Enabling this will make pathfinding use node centers, which leads to less accurate paths (but it's faster).

int TileIndex

Tile index in the recast or navmesh graph that this node is part of.

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.

Unity.Profiling.ProfilerMarker MarkerClosest = new Unity.Profiling.ProfilerMarker("MarkerClosest")

Unity.Profiling.ProfilerMarker MarkerDecode = new Unity.Profiling.ProfilerMarker("Decode")

Unity.Profiling.ProfilerMarker MarkerGetVertices = new Unity.Profiling.ProfilerMarker("GetVertex")

void AddPartialConnection (

GraphNode	node
uint	cost
bool	isOutgoing
bool	isIncoming

)

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.

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.AddPartialConnection(node2, cost, true, true);
node2.AddPartialConnection(node1, cost, true, true);

node1.ContainsOutgoingConnection(node2); // True

node1.RemovePartialConnection(node2);
node2.RemovePartialConnection(node1);
}));


Some graphs have a special representation for some connections which is more efficient. For example grid graphs can represent connections to its 8 neighbours more efficiently. But to use that efficient representation you'll need to call GridNode.SetConnectionInternal instead of this method.

void AddPartialConnection (

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.
byte	shapeEdgeInfo	Info about how the edge is which edge on the shape of this node to use or #Connection.NoSharedEdge if no edge is used. See Connection.PackShapeEdgeInfo.

)

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=true

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

)

Remove all connections between this node and other nodes.

void Connect (

GraphNode	lhs	First node to connect.
GraphNode	rhs	Second node to connect
uint	cost	Cost of the connection. A cost of 1000 corresponds approximately to the cost of moving one world unit. See Int3.Precision.
OffMeshLinks.Directionality	directionality=OffMeshLinks.Directionality.TwoWay	Determines if both lhs->rhs and rhs->lhs connections will be created, or if only a connection from lhs->rhs should be created.

)

Adds a connection between two nodes.

If the nodes already have a connection to each other, that connection will be updated with the new cost.

Note that some graphs have a special representation for some connections which is more efficient. For example grid graphs can represent connections to its 8 neighbours more efficiently. But to use that efficient representation you'll need to call GridNode.SetConnectionInternal instead of this method.

This is different from an off-mesh link. An off-mesh link contains more metadata about the connection and is in many cases preferable to use instead of this method. This is a much lower-level method which is used by off-mesh links internally.

Movement scripts such as the RichAI or FollowerEntity may get confused if they try to follow a connection made using this method as it does not contain any information about how to traverse the connection.

Internally, both nodes keep track of the connection to the other node, even for a one-way connection. This is done to make sure the connection can always be removed later on, if for example one of the nodes is destroyed.

// 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;

GraphNode.Connect(node1, node2, cost, OffMeshLinks.Directionality.TwoWay);


bool ContainsOutgoingConnection (

GraphNode

node

)

True if this node contains a connection to the given node.

This will not return true if another node has a one-way connection to this 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.AddPartialConnection(node2, cost, true, true);
node2.AddPartialConnection(node1, cost, true, true);

node1.ContainsOutgoingConnection(node2); // True

node1.RemovePartialConnection(node2);
node2.RemovePartialConnection(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

const uint DestroyedNodeIndex = NodeIndexMask - 1

void Disconnect (

GraphNode	lhs
GraphNode	rhs

)

Removes the connection between two nodes.

If no connection exists between the nodes, nothing will be done.

This will also handle special connections representations that some node types use. For example grid graphs represent the connections to their 8 grid neighbours differently from other connections.

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	The delegate which will be called once for every connection.
int	connectionFilter=Connection.OutgoingConnection	A bitmask of which connection types will be included. You may pass any combination of Connection.OutgoingConnection and Connection.IncomingConnection. Defaults to only outgoing connections. Unless one-way links are added to a graph, all connections will typically be bidirectional.

)

Calls the delegate with all connections from this node.

node.GetConnections(connectedTo => {
Debug.DrawLine((Vector3)node.position, (Vector3)connectedTo.position, Color.red);
});
You can add all connected nodes to a list like this var connections = new List<GraphNode>();
node.GetConnections(connections.Add);


void GetConnections<T> (

GetConnectionsWithData<T>	action	The delegate which will be called once for every connection. The first parameter to the delegate is the connection and the second parameter is the custom data passed to this method.
ref T	data	Custom data which will be passed to the delegate.
int	connectionFilter	A bitmask of which connection types will be included. A connection can either be incoming, outgoing, or both (bidirectional). You may pass any combination of Connection.OutgoingConnection and Connection.IncomingConnection. Defaults to only outgoing connections. Unless one-way links are added to a graph, all connections will typically be bidirectional.

)

Calls the delegate with all connections from or to this node, and passes a custom data value to the delegate.

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);


delegate void GetConnectionsWithData<T> (

GraphNode	node
ref T	data

)

int GetGizmoHashCode ()

Hash code used for checking if the gizmos need to be updated.

Will change when the gizmos for the node might change.

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 int InvalidNodeIndex = 0

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

uint 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 specific nodes. A cost of 1000 (Int3.Precision) corresponds to the cost of moving 1 world unit.

void RemovePartialConnection (

GraphNode

node

)

Removes any connection from this node to the specified node.

If no such connection exists, nothing will be done.

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.AddPartialConnection(node2, cost, true, true);
node2.AddPartialConnection(node1, cost, true, true);

node1.ContainsOutgoingConnection(node2); // True

node1.RemovePartialConnection(node2);
node2.RemovePartialConnection(node1);
}));


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 Connect 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.

May be null if the node has no connections.

Int3 position

Position of the node in world space.

void CalculateBestEdgePosition (

refInt3	s1
refInt3	s2
refInt3	pos
out int3	closestPointAlongEdge
out uint	quantizedFractionAlongEdge
out uint	cost

)

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.

void InterpolateEdge (

refInt3	p1
refInt3	p2
uint	fractionAlongEdge
outInt3	pos

)

bool? IsHierarchicalNodeDirty

Some internal bookkeeping.

void OpenAtPoint (

Path	path
uint	pathNodeIndex
Int3	pos
int	edge
uint	gScore

)

void OpenSingleEdge (

Path	path
uint	pathNodeIndex
TriangleMeshNode	other
int	sharedEdgeOnOtherNode
Int3	pos
uint	gScore

)

void OpenSingleEdgeBurst (

refInt3	s1
refInt3	s2
refInt3	pos
ushort	pathID
uint	pathNodeIndex
uint	candidatePathNodeIndex
uint	candidateNodeIndex
uint	candidateG
refUnsafeSpan<PathNode>	pathNodes
refBinaryHeap	heap
refHeuristicObjective	heuristicObjective

)

int PathNodeVariants

How many path node variants should be created for each node.

This should be a constant for each node type.

Typically this is 1, but for example the triangle mesh node type has 3 variants, one for each edge.

int PathNodeVariants

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.