A* Pathfinding Project  4.0.11
The A* Pathfinding Project for Unity 3D
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Events Macros Groups Pages
AstarAI.cs

Full source for the simple AI written in the get started guide .It should be attached to a GameObject with a Seeker and a CharacterController also attached.

using UnityEngine;
// Note this line, if it is left out, the script won't know that the class 'Path' exists and it will throw compiler errors
// This line should always be present at the top of scripts which use pathfinding
using Pathfinding;
public class AstarAI : MonoBehaviour {
public Transform targetPosition;
private Seeker seeker;
private CharacterController controller;
public Path path;
public float speed = 2;
public float nextWaypointDistance = 3;
private int currentWaypoint = 0;
public float repathRate = 0.5f;
private float lastRepath = -9999;
public void Start () {
seeker = GetComponent<Seeker>();
controller = GetComponent<CharacterController>();
}
public void OnPathComplete (Path p) {
Debug.Log("A path was calculated. Did it fail with an error? " + p.error);
// Path pooling. To avoid unnecessary allocations paths are reference counted.
// Calling Claim will increase the reference count by 1 and Release will reduce
// it by one, when it reaches zero the path will be pooled and then it may be used
// by other scripts. The ABPath.Construct or Seeker.StartPath methods will
// take a path from the pool if possible. See also the documentation page about path pooling.
p.Claim(this);
if (!p.error) {
if (path != null) path.Release(this);
path = p;
// Reset the waypoint counter so that we start to move towards the first point in the path
currentWaypoint = 0;
} else {
p.Release(this);
}
}
public void Update () {
if (Time.time - lastRepath > repathRate && seeker.IsDone()) {
lastRepath = Time.time+ Random.value*repathRate*0.5f;
// Start a new path to the targetPosition, call the the OnPathComplete function
// when the path has been calculated (which may take a few frames depending on the complexity)
seeker.StartPath(transform.position, targetPosition.position, OnPathComplete);
}
if (path == null) {
// We have no path to follow yet, so don't do anything
return;
}
if (currentWaypoint > path.vectorPath.Count) return;
if (currentWaypoint == path.vectorPath.Count) {
Debug.Log("End Of Path Reached");
currentWaypoint++;
return;
}
// Direction to the next waypoint
Vector3 dir = (path.vectorPath[currentWaypoint]-transform.position).normalized;
dir *= speed;
// Note that SimpleMove takes a velocity in meters/second, so we should not multiply by Time.deltaTime
controller.SimpleMove(dir);
// The commented line is equivalent to the one below, but the one that is used
// is slightly faster since it does not have to calculate a square root
//if (Vector3.Distance (transform.position,path.vectorPath[currentWaypoint]) < nextWaypointDistance) {
if ((transform.position-path.vectorPath[currentWaypoint]).sqrMagnitude < nextWaypointDistance*nextWaypointDistance) {
currentWaypoint++;
return;
}
}
}