ARFoundation and Navigation

Hello,

I am trying to figure out how to implement navigation on ARPlanes, that keeps changing size as more feature points are getting detected.

I have this code for dealing with variable size ARPlanes:

Code (CSharp):

1. void boundaryChangedFunction(ARPlaneBoundaryChangedEventArgs aRPlaneBoundaryChangedEventArgs)
2.     {
3.         ARPlane tempPlane = aRPlaneBoundaryChangedEventArgs.plane;
4.         var setPlane = m_ARPlaneManager.planePrefab;
5.        
6.         NavMeshSurface tempNavMeshSurface = tempPlane.gameObject.GetComponent<NavMeshSurface>();
7.        
8.         if (tempNavMeshSurface)
9.         {
10.             Debug.Log(tempPlane.name + " has a NavMeshSurface, will bake it!");
11.            
12.             tempNavMeshSurface.BuildNavMesh();
13.         }
14.         else
15.         {
16.             Debug.Log(tempPlane.name + " does not have a NavMeshSurface. Will add one and bake!");
17.             tempPlane.gameObject.AddComponent<NavMeshSurface>();
18.            
19.             tempPlane.gameObject.GetComponent<NavMeshSurface>().BuildNavMesh();
20.         }
21.  
22.     }

You can see that each time the plane changes size then I am calling "BuildNavMesh();". No performance issues so far.

The problem arises when I try to add an agent. I add a small AR object by tapping on the plane and in my Update() method I have:

Code (CSharp):

1.     void Update()
2.     {
3.         if (Input.touchCount > 0)
4.         {
5.             Touch touch = Input.GetTouch(0);
6.  
7.             if (m_SessionOrigin.Raycast(touch.position, s_Hits, TrackableType.PlaneWithinPolygon))
8.             {
9.                 Pose hitPose = s_Hits[0].pose;
10.                
11.                
12.  
13.                 if (spawnedObject == null)
14.                 {
15.                     spawnedObject = Instantiate(m_PlacedPrefab, hitPose.position, hitPose.rotation);
16.                  
17.                     navAgent = spawnedObject.AddComponent<NavMeshAgent>(); //THIS CAUSES THE PROBLEM
18.  
19.                 }
20.             }
21.         }
22.  
23.     }

But I keep getting this error: "Failed to create agent because it is not close enough to the Navmesh".

Then when I try to move the agent nothing happens. The issue with AR is that since all objects are dynamically added I can't use the drag & drop feature of Unity, as it is usually done for static scenes.