Pathfinding.NavMeshGraph.GetNearest C# (CSharp) Method

		public static NNInfo GetNearest (NavMeshGraph graph, GraphNode[] nodes, Vector3 position, NNConstraint constraint, bool accurateNearestNode) {
			if (nodes == null || nodes.Length == 0) {
				Debug.LogError ("NavGraph hasn't been generated yet or does not contain any nodes");
				return new NNInfo ();
			}
			
			if (constraint == null) constraint = NNConstraint.None;
			
			
			Int3[] vertices = graph.vertices;
			
			//Query BBTree
			
			if (graph.bbTree == null) {
				/** \todo Change method to require a navgraph */
				return GetNearestForce (graph as NavGraph, graph as INavmeshHolder, position, constraint, accurateNearestNode);
				//Debug.LogError ("No Bounding Box Tree has been assigned");
				//return new NNInfo ();
			}
			
			//Searches in radiuses of 0.05 - 0.2 - 0.45 ... 1.28 times the average of the width and depth of the bbTree
			float w = (graph.bbTree.root.rect.width + graph.bbTree.root.rect.height)*0.5F*0.02F;
			
			NNInfo query = graph.bbTree.QueryCircle (position,w,constraint);//graph.bbTree.Query (position,constraint);
			
			if (query.node == null) {
				
				for (int i=1;i<=8;i++) {
					query = graph.bbTree.QueryCircle (position, i*i*w, constraint);
					
					if (query.node != null || (i-1)*(i-1)*w > AstarPath.active.maxNearestNodeDistance*2) { // *2 for a margin
						break;
					}
				}
			}
			
			if (query.node != null) {
				query.clampedPosition = ClosestPointOnNode (query.node as TriangleMeshNode,vertices,position);
			}
			
			if (query.constrainedNode != null) {
				if (constraint.constrainDistance && ((Vector3)query.constrainedNode.position - position).sqrMagnitude > AstarPath.active.maxNearestNodeDistanceSqr) {
					query.constrainedNode = null;
				} else {
					query.constClampedPosition = ClosestPointOnNode (query.constrainedNode as TriangleMeshNode, vertices, position);
				}
			}
			
			return query;	
		}
		

 public override NNInfo GetNearest(Vector3 position, NNConstraint constraint, GraphNode hint)
 {
     return(NavMeshGraph.GetNearest(this, this.nodes, position, constraint, this.accurateNearestNode));
 }