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Making my own navmesh

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Hi, I was in the middle of making an a* algorithm for a project the other day and ran into the problem that I couldn't find a way to place nodes or check if they were walkable. I've already got the algorithm done so it is able to path find, however I need to somehow create a navmesh made up of nodes, and it has to work for all GameObjects, not just terrain. How should I go about doing this?

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