One game object in my game, downloaded from the Asset Store and used straight from the box, is a bed. My player can walk up to it but not through it, which is just as it should be. It has a transform and an animator (not sure why as it's inanimate) but no colliders. Elsewhere I have a group of tables and chairs which are enclosed in a box collider with Target checked, another box collider with Target unchecked, and a navmesh. Despite this my player can walk right through the furniture. My question is, how do I ensure that solid objects cannot be walked through?
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Your NavMesh will need to account for the furniture, so you'll need to re-bake it once your scene's colliders have been tagged as Navigation static.
However, in the case of First Person movement, pathfinding is only relied upon when AC is moving NPCs, or moving the Player during Cutscenes (i.e. out of the player's direct control). During gameplay, where the Player can and cannot move will be determined purely by colliders, so if the player is clipping through geometry it will be due to the colliders not being correctly assigned.
This then is more of a Unity issue, as AC is relying on Unity's Physics/Collision systems, but you can use AC's CollisionCube prefab to quickly lay down areas the player cannot move to. The First Person tutorial video covers this, if you haven't yet seen it.