public void GenerateWalkGrid(float squareSize, int sideCount, float playerHeight, float stepHeight, float playerRadius, Vector3 pos)
        {
            if (squareSize <= 0.01 || sideCount < 1)
            {
                return;
            }

            pos.y = maxHeight;


            Poll[,] polls = new Poll[sideCount, sideCount];


            float spacing = (1f / (sideCount - 1)) * squareSize;

            for (int x = 0; x < sideCount; x++)
            {
                for (int y = 0; y < sideCount; y++)
                {
                    Vector3 point = pos + new Vector3(0 - (squareSize / 2) + x * spacing, 0, 0 - (squareSize / 2) + y * spacing);

                    RaycastHit[] hits = Physics.RaycastAll(point, Vector3.down);

                    hits = hits.OrderBy(v => v.point.y).Reverse().ToArray();

                    List <float> validPoints = new List <float>();

                    if (hits.Length != 0)
                    {
                        List <Collider> blockerCollider = new List <Collider>();

                        for (int h = 0; h < hits.Length; h++)
                        {
                            bool valid = true;

                            RaycastHit hit = hits[h];
                            RaycastHit hit2;

                            if (hit.collider.gameObject.layer == 8)
                            {
                                blockerCollider.Add(hit.collider);
                                valid = false;
                            }
                            else
                            {
                                foreach (var c in blockerCollider)
                                {
                                    if (IsPointInCollider(c, hit.point))
                                    {
                                        valid = false;
                                        break;
                                    }
                                }
                            }

                            if (valid && h != 0 &&
                                (hit.point.y + playerHeight > hits[h - 1].point.y || Physics.Raycast(hit.point, Vector3.up, out hit2, playerHeight)))
                            {
                                valid = false;
                            }

                            if (valid)
                            {
                                validPoints.Add(hit.point.y);
                            }

                            if (drawCross)
                            {
                                GL_Utils.DrawCrossNormal(hit.point + Vector3.up * 0.01f, hit.normal, valid ? Color.white : Color.red);
                            }
                        }


                        if (drawRay)
                        {
                            GL_Utils.DrawLine(point, hits[hits.Length - 1].point, Color.green);
                        }
                    }
                    polls[x, y] = new Poll(new Vector3(point.x, 0, point.z), validPoints);
                }
            }

            cellGrid = new CellGrid(polls, spacing, playerHeight, stepHeight, playerRadius);
        }