How to move an AI fall from a floor not using NodeLink which is from one point to other point but continuous

  • In the image above I have added 4 NodeLink to move an AI up the floor and down the floor
    It would be nice if my AI can fall and jump that floor in any direction. How can I achieve that?
  • I am using NodeLink with Recast Graph as my game is Grid-based can I achieve the same thing with grid graph if so how? Is not any specific reason for not implementing it in Gridgraph?

looking for something like this
If this feature is not there any ideas of how can I implement this ?