Struct NavMeshGraph

Navigation Mesh implementation with support for raycasting, area cost, flags and arbitrarily curved surfaces.

v1.1 adds features to populate the graph from within jobs. See Populate(NativeArray<Vector3>, NativeArray<int>) as well as some variations on this, including one that copies the contents from another NavMehsGraph, which can be efficient if you need to make slight adjustments to the graph as fast as possible.

SetUnwalkable(int), which can be used to essentialy cut some areas from the NavMesh. Depending on your use case, this may be a very efficient way to dynamically alter the graph without a lot of overhead. Using GetOverlappingTriangles(AABB, NativeList<int>), an area can be scanned and then these triangles can be excluded from pathfinding queries.

Paths can be processed using: NavMeshGraphCorners - creates a nice corner array from a starting position to the goal for flat worlds with slopes NavMeshGraphCorners3D - creates a nice corner array for arbitrarily curved worlds NavMeshGraphUnroller - processes the path so that it can be used for realtime steering behaviour

Implements

IGraph<NavMeshGraphLocation>

IDisposable

Namespace: AnyPath.Graphs.NavMesh

Assembly: AnyPath.dll

Syntax

public struct NavMeshGraph : IGraph<NavMeshGraphLocation>, IDisposable

Remarks

Since v1.1, all of the constructors make an internal copy of the supplied arrays. Also, any triangle that has a cost of infinity is considered unwalkable and will never be part of a path

Constructors

NavMeshGraph(List<Vector3>, List<int>, Matrix4x4, Allocator, List<EnterCostAndFlags>, int, int)

Construct a NavMesh from a set of vertices and triangles. The NavMesh is populated automatically.

Declaration

public NavMeshGraph(List<Vector3> vertices, List<int> triangles, Matrix4x4 localToWorldMatrix, Allocator allocator, List<NavMeshGraph.EnterCostAndFlags> enterCostAndFlags = null, int trianglesPerOctant = 16, int maxOctreeDepth = 5)

Parameters

Type	Name	Description
List<Vector3>	vertices	Vertices to use. Similar to how a Unity mesh is constructed.
List<int>	triangles	Array describing the triangles using the indices in the vertex array. Length must be a multiple of 3 as each set of 3 indices describres a triangle
Matrix4x4	localToWorldMatrix	The local to world matrix to use. This is useful if you want the navmesh to use world space coordinates. Use Matrix4x4.identity if the vertices are already in world space or if you want to keep the coordinates in the local space of the mesh.
Allocator	allocator	Allocator to use
List<NavMeshGraph.EnterCostAndFlags>	enterCostAndFlags	Array with cost and flags per triangle. Note that one triangle equals 3 indices in the triangles array. So index zero in this array corresponds to the first set of 3 in the triangles array. Length should be the amount of triangles. (triangles parameter's length divided by 3). Null is allowed for this parameter, and will assign no extra cost and flags to the triangles.
int	trianglesPerOctant	Max triangles per octant for the internal octree. Depending on
int	maxOctreeDepth	Max depth of the internal octree for raycast and closest location accellerating. If your mesh is very large, it may be beneficial to increase this value. Finding a good balance is key to having optimal raycast and closest location performance.

Remarks

Note that the vertices may need to be welded together first, depending on your source of data.

Not super efficient, it's advised to use another constructor overload

NavMeshGraph(Allocator, int, int, int, int)

Constructs an empty nav mesh graph, to be populated later with any of the Populate(NativeArray<Vector3>, NativeArray<int>) methods.

Declaration

public NavMeshGraph(Allocator allocator, int trianglesPerOctant = 16, int maxOctreeDepth = 5, int initialVertexCapacity = 0, int initialIndicesCapacity = 0)

Parameters

Type	Name	Description
Allocator	allocator	Allocator to use. Make sure to use the same allocator as the supplied arrays.
int	trianglesPerOctant	Max triangles per octant for the internal octree
int	maxOctreeDepth	Max depth of the internal octree for raycast accellerating
int	initialVertexCapacity	Pre allocate memory for the vertices, if you know how large your mesh is going to be, this helps with performance when populating
int	initialIndicesCapacity	Pre allocate memory for the triangle indices, if you know how large your mesh is going to be, this helps with performance when populating

NavMeshGraph(NativeArray<Vector3>, NativeArray<int>, NativeArray<EnterCostAndFlags>, Matrix4x4, Allocator, int, int)

Construct a NavMesh from a set of vertices and triangles. The NavMesh is populated automatically.

Declaration

public NavMeshGraph(NativeArray<Vector3> vertices, NativeArray<int> triangles, NativeArray<NavMeshGraph.EnterCostAndFlags> enterCostAndFlags, Matrix4x4 localToWorldMatrix, Allocator allocator, int trianglesPerOctant = 16, int maxOctreeDepth = 5)

Parameters

Type	Name	Description
NativeArray<Vector3>	vertices	Vertices to use. Similar to how a Unity mesh is constructed.
NativeArray<int>	triangles	Triangle indices to use. Similar to how a Unity mesh is constructed.
NativeArray<NavMeshGraph.EnterCostAndFlags>	enterCostAndFlags	Array with cost and flags per triangle. Length should be the amount of triangles. (triangles array divided by 3).
Matrix4x4	localToWorldMatrix	The local to world matrix to use. This is useful if you want the navmesh to use world space coordinates. Use Matrix4x4.identity if the vertices are already in world space or if you want to keep the coordinates in the local space of the mesh.
Allocator	allocator	Allocator to use. Make sure to use the same allocator as the supplied arrays.
int	trianglesPerOctant	Max triangles per octant for the internal octree
int	maxOctreeDepth	Max depth of the internal octree for raycast and closest location accellerating. If your mesh is very large, it may be beneficial to increase this value. Finding a good balance is key to having optimal raycast and closest location performance.

Remarks

Breaking change: the supplied arrays are copied as of v1.1. Dispose of the native arrays separately.

NavMeshGraph(Vector3[], int[], Matrix4x4, Allocator, EnterCostAndFlags[], int, int)

Construct a NavMesh from a set of vertices and triangles. The NavMesh is populated automatically.

Declaration

public NavMeshGraph(Vector3[] vertices, int[] triangles, Matrix4x4 localToWorldMatrix, Allocator allocator, NavMeshGraph.EnterCostAndFlags[] enterCostAndFlags = null, int trianglesPerOctant = 16, int maxOctreeDepth = 5)

Parameters

Type	Name	Description
Vector3[]	vertices	Vertices to use. Similar to how a Unity mesh is constructed.
int[]	triangles	Triangle indices to use. Similar to how a Unity mesh is constructed.
Matrix4x4	localToWorldMatrix	The local to world matrix to use. Use Matrix4x4.identity if the vertices are already in world space or if you want to keep the coordinates in the local mesh space.
Allocator	allocator	Allocator to use
EnterCostAndFlags[]	enterCostAndFlags	Array with cost and flags per triangle. Length should be the amount of triangles. (triangles array divided by 3). Null is allowed for this parameter, and will assign no extra cost and flags to the triangles.
int	trianglesPerOctant	Max triangles per octant for the internal octree
int	maxOctreeDepth	Max depth of the internal octree for raycast and closest location accellerating. If your mesh is very large, it may be beneficial to increase this value. Finding a good balance is key to having optimal raycast and closest location performance.

Remarks

An internal copy is made of the supplied arrays

Properties

CostAndFlags

Read only access to the enter cost and flags of the mesh

Declaration

public NativeArray<NavMeshGraph.EnterCostAndFlags>.ReadOnly CostAndFlags { get; }

Property Value

Type	Description
NativeArray<NavMeshGraph.EnterCostAndFlags>.ReadOnly

Octree

Access to the internal octree of the graph for advanced location queries.

Declaration

public NativeOctree<int> Octree { get; }

Property Value

Type	Description
NativeOctree<int>

Remarks

Warning: do not modify the octree as this will corrupt the state of the graph.

TriangleCount

Amount of triangles contained in the mesh

Declaration

public int TriangleCount { get; }

Property Value

Type	Description
int

Triangles

Read only access to the triangle indices of the mesh. Each triangle has three consecutive ints pointing to the index in the Vertices array

Declaration

public NativeArray<int>.ReadOnly Triangles { get; }

Property Value

Type	Description
NativeArray<int>.ReadOnly

Vertices

Read only access to the vertices of the mesh

Declaration

public NativeArray<Vector3>.ReadOnly Vertices { get; }

Property Value

Type	Description
NativeArray<Vector3>.ReadOnly

Methods

ClosestLocation(NearestNeighbourCache, float3, float, ClosestNavMeshLocationPredicate, out NavMeshGraphLocation)

Returns the closest location on the navmesh from a point, with a custom 'filter' predicate. This predicate can be used for instance to check if there is a clear line of sight between the position and the location that is returned.

Declaration

public bool ClosestLocation(NativeOctree<int>.NearestNeighbourCache cache, float3 position, float maxDistance, ClosestNavMeshLocationPredicate predicate, out NavMeshGraphLocation location)

Parameters

Type	Name	Description
NativeOctree<int>.NearestNeighbourCache	cache	Re-usable cache for the algorithm. If you need to perform a lot of closest location queries in a row, it is faster to allocate this cache once and re-use it for every query.
float3	position	The center position to search from
float	maxDistance	The max search radius. Locations beyond this distance will not be visited. Keeping this value within reasonable limits may dramatically increase performance.
ClosestNavMeshLocationPredicate	predicate	A custom function to determine wether a location is valid as a closest location. If false is returned, the next closest location after that is attempted, and so on.
NavMeshGraphLocation	location	Returns the closest location on the navmesh

Returns

Type	Description
bool	Wether a location was found within the given radius

Remarks

This function cannot be used in a burst compiled job context. Use the overload that accepts a Unity.Burst.FunctionPointer<T> instead.

ClosestLocation(NearestNeighbourCache, float3, float, out NavMeshGraphLocation)

Returns the closest location on the navmesh from a point.

Declaration

public bool ClosestLocation(NativeOctree<int>.NearestNeighbourCache cache, float3 position, float maxDistance, out NavMeshGraphLocation location)

Parameters

Type	Name	Description
NativeOctree<int>.NearestNeighbourCache	cache	Re-usable cache for the algorithm. If you need to perform a lot of closest location queries in a row, it is faster to allocate this cache once and re-use it for every query.
float3	position	The center position to search from
float	maxDistance	The max search radius
NavMeshGraphLocation	location	Returns the closest location on the navmesh

Returns

Type	Description
bool	Wether a location was found within the given radius

ClosestLocation(NearestNeighbourCache, float3, float, int, out NavMeshGraphLocation)

Returns the closest location on the navmesh from a point.

Declaration

public bool ClosestLocation(NativeOctree<int>.NearestNeighbourCache cache, float3 position, float maxDistance, int flagBitMask, out NavMeshGraphLocation location)

Parameters

Type	Name	Description
NativeOctree<int>.NearestNeighbourCache	cache	Re-usable cache for the algorithm. If you need to perform a lot of closest location queries in a row, it is faster to allocate this cache once and re-use it for every query.
float3	position	The center position to search from
float	maxDistance	The max search radius
int	flagBitMask	A bitwise AND is performed on the triangle candidates and if any bit is true, the triangle is considered.
NavMeshGraphLocation	location	Returns the closest location on the graph

Returns

Type	Description
bool	Wether a location was found within the given radius

ClosestLocation(NearestNeighbourCache, float3, float, FunctionPointer<ClosestNavMeshLocationPredicate>, out NavMeshGraphLocation)

Declaration

public bool ClosestLocation(NativeOctree<int>.NearestNeighbourCache cache, float3 position, float maxDistance, FunctionPointer<ClosestNavMeshLocationPredicate> predicate, out NavMeshGraphLocation location)

Parameters

Type	Name	Description
NativeOctree<int>.NearestNeighbourCache	cache	Re-usable cache for the algorithm. If you need to perform a lot of closest location queries in a row, it is faster to allocate this cache once and re-use it for every query.
float3	position	The center position to search from
float	maxDistance	The max search radius. Locations beyond this distance will not be visited. Keeping this value within reasonable limits may dramatically increase performance.
FunctionPointer<ClosestNavMeshLocationPredicate>	predicate	A custom function to determine wether a location is valid as a closest location. If false is returned, the next closest location after that is attempted, and so on.
NavMeshGraphLocation	location	Returns the closest location on the navmesh

Returns

Type	Description
bool	Wether a location was found within the given radius

ClosestLocation(float3, float, ClosestNavMeshLocationPredicate, out NavMeshGraphLocation)

Declaration

public bool ClosestLocation(float3 position, float maxDistance, ClosestNavMeshLocationPredicate predicate, out NavMeshGraphLocation location)

Parameters

Type	Name	Description
float3	position	The center position to search from
float	maxDistance	The max search radius. Locations beyond this distance will not be visited. Keeping this value within reasonable limits may dramatically increase performance.
ClosestNavMeshLocationPredicate	predicate	A custom function to determine wether a location is valid as a closest location. If false is returned, the next closest location after that is attempted, and so on.
NavMeshGraphLocation	location	Returns the closest location on the navmesh

Returns

Type	Description
bool	Wether a location was found within the given radius

Remarks

This function cannot be used in a burst compiled job context. Use the overload that accepts a Unity.Burst.FunctionPointer<T> instead.

ClosestLocation(float3, float, out NavMeshGraphLocation)

Returns the closest location on the navmesh from a point.

Declaration

public bool ClosestLocation(float3 position, float maxDistance, out NavMeshGraphLocation location)

Parameters

Type	Name	Description
float3	position	The center position to search from
float	maxDistance	The max search radius
NavMeshGraphLocation	location	Returns the closest location on the navmesh

Returns

Type	Description
bool	Wether a location was found within the given radius

ClosestLocation(float3, float, int, out NavMeshGraphLocation)

Returns the closest location on the navmesh from a point.

Declaration

public bool ClosestLocation(float3 position, float maxDistance, int flagBitMask, out NavMeshGraphLocation location)

Parameters

Type	Name	Description
float3	position	The center position to search from
float	maxDistance	The max search radius
int	flagBitMask	A bitwise AND is performed on the triangle candidates and if any bit is true, the triangle is considered.
NavMeshGraphLocation	location	Returns the closest location on the graph

Returns

Type	Description
bool	Wether a location was found within the given radius

ClosestLocation(float3, float, FunctionPointer<ClosestNavMeshLocationPredicate>, out NavMeshGraphLocation)

Declaration

public bool ClosestLocation(float3 position, float maxDistance, FunctionPointer<ClosestNavMeshLocationPredicate> predicate, out NavMeshGraphLocation location)

Parameters

Type	Name	Description
float3	position	The center position to search from
float	maxDistance	The max search radius. Locations beyond this distance will not be visited. Keeping this value within reasonable limits may dramatically increase performance.
FunctionPointer<ClosestNavMeshLocationPredicate>	predicate	A custom function to determine wether a location is valid as a closest location. If false is returned, the next closest location after that is attempted, and so on.
NavMeshGraphLocation	location	Returns the closest location on the navmesh

Returns

Type	Description
bool	Wether a location was found within the given radius

Collect(NavMeshGraphLocation, ref NativeList<Edge<NavMeshGraphLocation>>)

Implement adding all the directed edges that go from the input node.

Declaration

public void Collect(NavMeshGraphLocation location, ref NativeList<Edge<NavMeshGraphLocation>> edgeBuffer)

Parameters

Type	Name	Description
NavMeshGraphLocation	location
NativeList<Edge<NavMeshGraphLocation>>	edgeBuffer	Add edges to other nodes to this buffer. The buffer is automatically cleared each time before this method is called. Warning: do not modify the edgeBuffer itself. Only add to it. The ref keyword is only used for performance reasons.

Dispose()

Declaration

public void Dispose()

Dispose(JobHandle)

Declaration

public JobHandle Dispose(JobHandle inputDeps)

Parameters

Type	Name	Description
JobHandle	inputDeps

Returns

Type	Description
JobHandle

DrawOctreeGizmo()

Draws a gizmo of the structure of the internal octree. This can be used to determine an optimal max depth for the octree.

Declaration

public void DrawOctreeGizmo()

Remarks

This method is not included in a build, only use for debugging

DrawTrianglesGizmo()

Draws all triangles of the mesh.

Declaration

public void DrawTrianglesGizmo()

Remarks

This method is not included in a build, only use for debugging

GetAdjecency(int, out int, out int, out int)

Returns the adjecent triangle indexes of a triangle.

Declaration

public void GetAdjecency(int triangleIndex, out int triangleIndex1, out int triangleIndex2, out int triangleIndex3)

Parameters

Type	Name	Description
int	triangleIndex	The triangle's index to get the adjecent triangles from.
int	triangleIndex1	First adjecent triangle, -1 if none
int	triangleIndex2	Second adjecent triangle, -1 if none
int	triangleIndex3	Third adjecent triangle, -1 if none

GetEnumerator()

Declaration

public NavMeshGraph.Enumerator GetEnumerator()

Returns

Type	Description
NavMeshGraph.Enumerator

GetOverlappingTriangles(AABB, NativeHashSet<int>)

Appends the indices of all triangles whose AABB's overlap with a given AABB to the supplied NativeHashSet, so that no duplicates can occur

Declaration

public void GetOverlappingTriangles(AABB aabb, NativeHashSet<int> triangleIndices)

Parameters

Type	Name	Description
AABB	aabb	The AABB
NativeHashSet<int>	triangleIndices	The set to append the triangle indices to, note that this set is not cleared beforehand

Remarks

The indices that are returned are the starting indices of each triangle. E.g. an index of zero corresponds to index 0, 1 and 2 in the mesh raw indices array. The full triangle location can be obtained with LocationFromTriangleIndex(int) or GetTriangle(int)

GetOverlappingTriangles(AABB, NativeList<int>)

Appends the indices of all triangles whose AABB's overlap with a given AABB to the supplied nativelist

Declaration

public void GetOverlappingTriangles(AABB aabb, NativeList<int> triangleIndices)

Parameters

Type	Name	Description
AABB	aabb	The AABB
NativeList<int>	triangleIndices	The list to append the triangle indices to, note that this list is not cleared beforehand

Remarks

It's possible for duplicates to occur. To guarantuee no duplicates, use the GetOverlappingTriangles(AABB, NativeHashSet<int>) overload.

GetTriangle(int)

Returns a triangle by index

Declaration

public Triangle GetTriangle(int index)

Parameters

Type	Name	Description
int	index	The index of the triangle

Returns

Type	Description
Triangle

LocationFromTriangleIndex(int)

Returns a location at the center of a triangle.

Declaration

public NavMeshGraphLocation LocationFromTriangleIndex(int triangleIndex)

Parameters

Type	Name	Description
int	triangleIndex	The index of the triangle to derive a location from

Returns

Type	Description
NavMeshGraphLocation	A location which can be used for pathfinding queries

Populate(NavMeshGraph)

Copies the contents of the source graph into this graph. This can be useful if you want almost the exact same graph but will apply small modifications using SetUnwalkable(int) or SetEnterCostAndFlags(int, EnterCostAndFlags) on this graph after populating it.

Declaration

public void Populate(NavMeshGraph source)

Parameters

Type	Name	Description
NavMeshGraph	source	The source graph to copy

Remarks

This method is burst compatible, meaning it can be used inside a job to populate the graph with high performance, if you need frequent updates.

Note that this method writes to the graph and as such it should not be used while there are active pathfinding queries running on it. The source graph is allowed be in use though.

Populate(NativeArray<Vector3>, NativeArray<int>)

Populates the graph with data and calculates everything neccessary to perform pathfinding on the mesh

Declaration

public void Populate(NativeArray<Vector3> vertices, NativeArray<int> triangles)

Parameters

Type	Name	Description
NativeArray<Vector3>	vertices	Vertices to use. Similar to how a Unity mesh is constructed. Note that an internal copy is made
NativeArray<int>	triangles	Array describing the triangles using the indices in the vertex array. Length must be a multiple of 3 as each set of 3 indices describres a triangle. Note that an internal copy is made

Remarks

This method is burst compatible, meaning it can be used inside a job to populate the graph with high performance, if you need frequent updates.

Note that this method writes to the graph and as such it should not be used while there are active pathfinding queries running on it.

Populate(NativeArray<Vector3>, NativeArray<int>, NativeArray<EnterCostAndFlags>)

Populates the graph with data and calculates everything neccessary to perform pathfinding on the mesh

Declaration

public void Populate(NativeArray<Vector3> vertices, NativeArray<int> triangles, NativeArray<NavMeshGraph.EnterCostAndFlags> enterCostAndFlags)

Parameters

Type	Name	Description
NativeArray<Vector3>	vertices	Vertices to use. Similar to how a Unity mesh is constructed. Note that an internal copy of the array is made
NativeArray<int>	triangles	Array describing the triangles using the indices in the vertex array. Length must be a multiple of 3 as each set of 3 indices describres a triangle. Note that an internal copy is made
NativeArray<NavMeshGraph.EnterCostAndFlags>	enterCostAndFlags	Array with cost and flags per triangle. Note that one triangle equals 3 indices in the triangles array. So index zero in this array corresponds to the first set of 3 in the triangles array. Length should be the amount of triangles. (triangles parameter's length divided by 3). Null is allowed for this parameter, and will assign no extra cost and flags to the triangles.

Remarks

This method is burst compatible, meaning it can be used inside a job to populate the graph with high performance, if you need frequent updates.

Note that this method writes to the graph and as such it should not be used while there are active pathfinding queries running on it.

Populate(NativeArray<Vector3>, NativeArray<int>, NativeArray<EnterCostAndFlags>, Matrix4x4)

Populates the graph with data and calculates everything neccessary to perform pathfinding on the mesh

Declaration

public void Populate(NativeArray<Vector3> vertices, NativeArray<int> triangles, NativeArray<NavMeshGraph.EnterCostAndFlags> enterCostAndFlags, Matrix4x4 localToWorldMatrix)

Parameters

Type	Name	Description
NativeArray<Vector3>	vertices	Vertices to use. Similar to how a Unity mesh is constructed.
NativeArray<int>	triangles	Array describing the triangles using the indices in the vertex array. Length must be a multiple of 3 as each set of 3 indices describres a triangle
NativeArray<NavMeshGraph.EnterCostAndFlags>	enterCostAndFlags	Array with cost and flags per triangle. Note that one triangle equals 3 indices in the triangles array. So index zero in this array corresponds to the first set of 3 in the triangles array. Length should be the amount of triangles. (triangles parameter's length divided by 3). default is allowed for this parameter, and will assign no extra cost and flags to the triangles.
Matrix4x4	localToWorldMatrix	The local to world matrix to use. This is useful if you want the navmesh to use world space coordinates. Use Matrix4x4.identity if the vertices are already in world space or if you want to keep the coordinates in the local space of the mesh.

Remarks

This method is burst compatible, meaning it can be used inside a job to populate the graph with high performance, if you need frequent updates.

Note that this method writes to the graph and as such it should not be used while there are active pathfinding queries running on it.

Populate(Vector3[], int[])

Populates the graph with data and calculates everything neccessary to perform pathfinding on the mesh

Declaration

public void Populate(Vector3[] vertices, int[] triangles)

Parameters

Type	Name	Description
Vector3[]	vertices	Vertices to use. Similar to how a Unity mesh is constructed.
int[]	triangles	Array describing the triangles using the indices in the vertex array. Length must be a multiple of 3 as each set of 3 indices describres a triangle. Note that an internal copy is made

Raycast(Ray, out NavMeshGraphLocation)

Performs a raycast against the NavMesh and returns the closest node that was hit. This can then be used as the starting node for a pathfinding request. The node contains information about the triangle as well as the exact location the path should start.

Declaration

public bool Raycast(Ray ray, out NavMeshGraphLocation location)

Parameters

Type	Name	Description
Ray	ray	The ray to cast
NavMeshGraphLocation	location	The node that can be used as part of a path finding request

Returns

Type	Description
bool	True if there was a hit

RaycastTriangle(Ray, out Triangle, out float3)

Performs a raycast against the NavMesh and returns the closest triangle that was hit.

Declaration

public bool RaycastTriangle(Ray ray, out Triangle triangle, out float3 hitPoint)

Parameters

Type	Name	Description
Ray	ray	Ray to cast
Triangle	triangle	The triangle that was hit
float3	hitPoint	The point where the triangle was hit

Returns

Type	Description
bool	True if there was a hit

SetEnterCostAndFlags(int, EnterCostAndFlags)

Overwrites the cost and flags for a triangle, which can be obtained via RaycastTriangle(Ray, out Triangle, out float3) or GetOverlappingTriangles(AABB, NativeList<int>).

This can be useful if you've made a copy of a graph and want to apply slight modifications to it, or want to exclude certain triangles from being walkable (essentialy removing them)

To make a triangle unwalkable, supply Unwalkable as a parameter. Note that the triangle still exists in the navmesh, so it will still be returned from a raycast query. But A* will never use them in a path.

Declaration

public void SetEnterCostAndFlags(int triangleIndex, NavMeshGraph.EnterCostAndFlags costAndFlags)

Parameters

Type	Name	Description
int	triangleIndex	The index of the triangle
NavMeshGraph.EnterCostAndFlags	costAndFlags	The new cost and flags parameters for this triangle

Remarks

Note that this method writes to the graph and as such it should not be used while there are active pathfinding queries running on it.

SetUnwalkable(int)

Makes a triangle unwalkable. Making it impossible for A* to navigate through it. Note that the triangle still exists in the navmesh, so it will still be returned from a raycast query.

Declaration

public void SetUnwalkable(int triangleIndex)

Parameters

Type	Name	Description
int	triangleIndex	The index of the triangle, which can be obtained via RaycastTriangle(Ray, out Triangle, out float3) or GetOverlappingTriangles(AABB, NativeList<int>)