Resolved NavMesh created at runtime not recognized by agents or NavRaycast

Hi,

I using meshes gathered from an AR-Device to create a navmesh at runtime.
I can clearly see the navmesh in the scene at runtime, but neither my navAgents nor a NavRaycast recognize this navmesh.
Left picture at runtime where the navmesh is not created => the vertical raycast going through the agent is green = no navhit
Right picture at runtime when the navmesh is created => same, navraycast still green = no navhit (should be blue when navraycast hit navmesh)
And yes, my agent is aligned properly over the mesh ;-)






I am using UInity 2020.3.22f1, here are the relevant code snippets:

first nav-mesh creation:

Code (CSharp):

1.  
2. //param: parent = GameObject contiaing multiple GameObjects with Meshes
3. public static void CreateNavMesh(GameObject Parent)
4. {
5.    List<NavMeshBuildSource> sources = new List<NavMeshBuildSource>();
6.  
7.    MeshCollider[] mcs = Parent.GetComponentsInChildren<MeshCollider>();
8.    if (mcs == null)
9.    {
10.       Debug.LogError("CreateNavMesh: could not find any meshes");
11.    }
12.    else
13.    {
14.       foreach (MeshCollider meshcollider in mcs)
15.       {
16.          sources.Add(CreateNavMesh_MeshBuildSource(meshcollider));
17.       }
18.       navMeshBuildSettings.agentRadius = 0.05f;
19.       navMeshBuildSettings.agentHeight = 0.1f;
20.       navMeshBuildSettings.agentSlope = 60.0f;
21.       navMeshBuildSettings.agentClimb = 0.1f;
22.       navMeshBuildSettings.voxelSize = navMeshBuildSettings.agentRadius / 5f;
23.       navMeshBuildSettings.minRegionArea = 0.01f;
24.       NavMesh.RemoveAllNavMeshData();
25.       NavMeshBuilder.UpdateNavMeshData(navMeshData, navMeshBuildSettings, sources, CalculateLocalBounds_groupedObject(Parent));
26.       NavMesh.AddNavMeshData(navMeshData);
27.       UnityEditor.AI.NavMeshBuilder.BuildNavMesh();  //this was only for test, its not neccessary for navmeshcreation
28.     }
29. }
30.    
31. private static NavMeshBuildSource CreateNavMesh_MeshBuildSource(MeshCollider meshcollider)
32. {
33.    var src = new NavMeshBuildSource();
34.    src.transform = meshcollider.gameObject.transform.localToWorldMatrix;
35.    src.shape = NavMeshBuildSourceShape.Mesh;
36.    src.sourceObject = meshcollider.sharedMesh;
37.    return src;
38. }
39.  

second the navagents update, doing navmeshraycasts

Code (CSharp):

1.    
2. [SIZE=4]void Update ()
3. {
4.     navOnMesh = nav.isOnNavMesh;
5.  
6.     if (navOnMesh == true)
7.         CmdMove();
8.  
9.     else if (navOnMesh == false)
10.     {
11.         NavMeshHit hit;
12.         Vector3 from = transform.position + new Vector3(0f,100f,0f);
13.         Vector3 to = transform.position - new Vector3(0f, 100f, 0f);
14.         bool blocked = NavMesh.Raycast(from , to, out hit, NavMesh.AllAreas);
15.         if(hit.distance == Mathf.Infinity)
16.            Debug.DrawLine(transform.position + new Vector3(0f, 100f, 0f), transform.position - new Vector3(0f, 100f, 0f), blocked ? Color.red : Color.green);
17.         else
18.            Debug.DrawLine(transform.position + new Vector3(0f, 100f, 0f), hit.position, blocked ? Color.red : Color.blue);
19.  
20.  
21.     }
22. }[/SIZE]
23.  

Has anyone an idea how to teach my agent or navmeshraycast to use my created navMesh?

Thank you in advance,
Martin

 

Ok found the solution:

First:
I missunderstood NavMeshRayCast which is not intended the way I did used it. I am using now
NavMesh.SamplePosition() instead.
=> now the Raycast turns blue = samplePosition "hit" NavMesh

Second:
I did not recognize that the "availabiltiy" of a NavMesh for Agents depend on the AgentTypeID used to create the NavMesh. So now I added in Line 18 ( where I do define NavMeshBUildSettings):

Code (CSharp):

1. navMeshBuildSettings.agentTypeID = -1325456; // the weird AgentTypeID of my Agent

=> now the NavAgent recognizes the NavMesh and walking on it.






Hope it helps others too!