Class AIBase Extends VersionedMonoBehaviour

void FinalizeMovement (

Vector3	nextPosition	New position of the agent.
Quaternion	nextRotation	New rotation of the agent. If enableRotation is false then this parameter will be ignored.

)

Moves the agent to a position.

This is used if you want to override how the agent moves. For example if you are using root motion with Mecanim.

This will use a CharacterController, Rigidbody, Rigidbody2D or the Transform component depending on what options are available.

The agent will be clamped to the navmesh after the movement (if such information is available, generally this is only done by the RichAI component).

void FindComponents ()

Looks for any attached components like RVOController and CharacterController etc.

This is done during OnEnable. If you are adding/removing components during runtime you may want to call this function to make sure that this script finds them. It is unfortunately prohibitive from a performance standpoint to look for components every frame.

Vector3 GetFeetPosition ()

Position of the base of the character.

This is used for pathfinding as the character's pivot point is sometimes placed at the center of the character instead of near the feet. In a building with multiple floors the center of a character may in some scenarios be closer to the navmesh on the floor above than to the floor below which could cause an incorrect path to be calculated. To solve this the start point of the requested paths is always at the base of the character.

void Move (

Vector3

deltaPosition

Direction and distance to move the agent in world space.

)

Move the agent.

This is intended for external movement forces such as those applied by wind, conveyor belts, knockbacks etc.

Some movement scripts may ignore this completely (notably the AILerp script) if it does not have any concept of being moved externally.

The agent will not be moved immediately when calling this method. Instead this offset will be stored and then applied the next time the agent runs its movement calculations (which is usually later this frame or the next frame). If you want to move the agent immediately then call: ai.Move(someVector);
ai.FinalizeMovement(ai.position, ai.rotation);


void MovementUpdate (

float	deltaTime	time to simulate movement for. Usually set to Time.deltaTime.
out Vector3	nextPosition	the position that the agent wants to move to during this frame.
out Quaternion	nextRotation	the rotation that the agent wants to rotate to during this frame.

)

Calculate how the character wants to move during this frame.

Note that this does not actually move the character. You need to call FinalizeMovement for that. This is called automatically unless canMove is false.

To handle movement yourself you can disable canMove and call this method manually. This code will replicate the normal behavior of the component: void Update () {
// Disable the AIs own movement code
ai.canMove = false;
Vector3 nextPosition;
Quaternion nextRotation;
// Calculate how the AI wants to move
ai.MovementUpdate(Time.deltaTime, out nextPosition, out nextRotation);
// Modify nextPosition and nextRotation in any way you wish
// Actually move the AI
ai.FinalizeMovement(nextPosition, nextRotation);
}


void SearchPath ()

Recalculate the current path.

You can for example use this if you want very quick reaction times when you have changed the destination so that the agent does not have to wait until the next automatic path recalculation (see canSearch).

If there is an ongoing path calculation, it will be canceled, so make sure you leave time for the paths to get calculated before calling this function again. A canceled path will show up in the log with the message "Canceled by script" (see #Seeker.CancelCurrentPathRequest()).

If no destination has been set yet then nothing will be done.

void SetPath (

Path

path

)

Make the AI follow the specified path.

In case the path has not been calculated, the script will call seeker.StartPath to calculate it. This means the AI may not actually start to follow the path until in a few frames when the path has been calculated. The #pathPending field will as usual return true while the path is being calculated.

In case the path has already been calculated it will immediately replace the current path the AI is following. This is useful if you want to replace how the AI calculates its paths. Note that if you calculate the path using seeker.StartPath then this script will already pick it up because it is listening for all paths that the Seeker finishes calculating. In that case you do not need to call this function.

If you pass null as a parameter then the current path will be cleared and the agent will stop moving. Note than unless you have also disabled canSearch then the agent will soon recalculate its path and start moving again.

You can disable the automatic path recalculation by setting the canSearch field to false.

// Disable the automatic path recalculation
ai.canSearch = false;
var pointToAvoid = enemy.position;
// Make the AI flee from the enemy.
// The path will be about 20 world units long (the default cost of moving 1 world unit is 1000).
var path = FleePath.Construct(ai.position, pointToAvoid, 1000 * 20);
ai.SetPath(path);

// If you want to make use of properties like ai.reachedDestination or ai.remainingDistance or similar
// you should also set the destination property to something reasonable.
// Since the agent's own path recalculation is disabled, setting this will not affect how the paths are calculated.
// ai.destination = ...


Quaternion SimulateRotationTowards (

Vector3	direction	Direction in world space to rotate towards.
float	maxDegrees	Maximum number of degrees to rotate this frame.

)

Simulates rotating the agent towards the specified direction and returns the new rotation.

Note that this only calculates a new rotation, it does not change the actual rotation of the agent. Useful when you are handling movement externally using FinalizeMovement but you want to use the built-in rotation code.

void Teleport (

Vector3	newPosition
bool	clearPath=true

)

Instantly move the agent to a new position.

This will trigger a path recalculation (if clearPath is true, which is the default) so if you want to teleport the agent and change its destination it is recommended that you set the destination before calling this method.

The current path will be cleared by default.

AutoRepathPolicy autoRepath = new AutoRepathPolicy()

Determines how the agent recalculates its path automatically.

This corresponds to the settings under the "Recalculate Paths Automatically" field in the inspector.

bool canMove = true

Enables or disables movement completely.

If you want the agent to stand still, but still react to local avoidance and use gravity: use isStopped instead.

This is also useful if you want to have full control over when the movement calculations run. Take a look at MovementUpdate

Vector3? desiredVelocity

Velocity that this agent wants to move with.

Includes gravity and local avoidance if applicable.

Vector3 destination

Position in the world that this agent should move to.

If no destination has been set yet, then (+infinity, +infinity, +infinity) will be returned.

Note that setting this property does not immediately cause the agent to recalculate its path. So it may take some time before the agent starts to move towards this point. Most movement scripts have a repathRate field which indicates how often the agent looks for a new path. You can also call the SearchPath method to immediately start to search for a new path. Paths are calculated asynchronously so when an agent starts to search for path it may take a few frames (usually 1 or 2) until the result is available. During this time the #pathPending property will return true.

If you are setting a destination and then want to know when the agent has reached that destination then you could either use #reachedDestination (recommended) or check both #pathPending and #reachedEndOfPath. Check the documentation for the respective fields to learn about their differences.

IEnumerator Start () {
ai.destination = somePoint;
// Start to search for a path to the destination immediately
ai.SearchPath();
// Wait until the agent has reached the destination
while (!ai.reachedDestination) {
yield return null;
}
// The agent has reached the destination now
}
IEnumerator Start () {
ai.destination = somePoint;
// Start to search for a path to the destination immediately
// Note that the result may not become available until after a few frames
// ai.pathPending will be true while the path is being calculated
ai.SearchPath();
// Wait until we know for sure that the agent has calculated a path to the destination we set above
while (ai.pathPending || !ai.reachedEndOfPath) {
yield return null;
}
// The agent has reached the destination now
}


bool enableRotation = true

If true, the AI will rotate to face the movement direction.

Vector3 gravity = new Vector3(float.NaN, float.NaN, float.NaN)

Gravity to use.

If set to (NaN,NaN,NaN) then Physics.Gravity (configured in the Unity project settings) will be used. If set to (0,0,0) then no gravity will be used and no raycast to check for ground penetration will be performed.

LayerMask groundMask = -1

Layer mask to use for ground placement.

Make sure this does not include the layer of any colliders attached to this gameobject.

float height = 2

Height of the agent in world units.

This is visualized in the scene view as a yellow cylinder around the character.

This value is currently only used if an RVOController is attached to the same GameObject, otherwise it is only used for drawing nice gizmos in the scene view. However since the height value is used for some things, the radius field is always visible for consistency and easier visualization of the character. That said, it may be used for something in a future release.

bool isStopped

Gets or sets if the agent should stop moving.

If this is set to true the agent will immediately start to slow down as quickly as it can to come to a full stop. The agent will still react to local avoidance and gravity (if applicable), but it will not try to move in any particular direction.

The current path of the agent will not be cleared, so when this is set to false again the agent will continue moving along the previous path.

This is a purely user-controlled parameter, so for example it is not set automatically when the agent stops moving because it has reached the target. Use #reachedEndOfPath for that.

If this property is set to true while the agent is traversing an off-mesh link (RichAI script only), then the agent will continue traversing the link and stop once it has completed it.

The #steeringTarget property will continue to indicate the point which the agent would move towards if it would not be stopped.

float maxSpeed = 1

Max speed in world units per second.

IMovementPlane movementPlane = GraphTransform.identityTransform

Plane which this agent is moving in.

This is used to convert between world space and a movement plane to make it possible to use this script in both 2D games and 3D games.

System.Action onSearchPath

Called when the agent recalculates its path.

This is called both for automatic path recalculations (see canSearch) and manual ones (see SearchPath).

OrientationMode orientation = OrientationMode.ZAxisForward

Determines which direction the agent moves in.

For 3D games you most likely want the ZAxisIsForward option as that is the convention for 3D games. For 2D games you most likely want the YAxisIsForward option as that is the convention for 2D games.

Using the YAxisForward option will also allow the agent to assume that the movement will happen in the 2D (XY) plane instead of the XZ plane if it does not know. This is important only for the point graph which does not have a well defined up direction. The other built-in graphs (e.g the grid graph) will all tell the agent which movement plane it is supposed to use.

Vector3? position

Position of the agent.

In world space. If updatePosition is true then this value is idential to transform.position.

float radius = 0.5f

Radius of the agent in world units.

This is visualized in the scene view as a yellow cylinder around the character.

Quaternion? rotation

Rotation of the agent.

If updateRotation is true then this value is identical to transform.rotation.

bool updatePosition = true

Determines if the character's position should be coupled to the Transform's position.

If false then all movement calculations will happen as usual, but the object that this component is attached to will not move instead only the position property will change.

This is useful if you want to control the movement of the character using some other means such as for example root motion but still want the AI to move freely.

bool updateRotation = true

Determines if the character's rotation should be coupled to the Transform's rotation.

If false then all movement calculations will happen as usual, but the object that this component is attached to will not rotate instead only the rotation property will change.

Vector3? velocity

Actual velocity that the agent is moving with.

In world units per second.

Color ShapeGizmoColor = new Color(240/255f, 213/255f, 30/255f)

AIBase ()

void ApplyGravity (

float

deltaTime

)

Accelerates the agent downwards.

void Awake ()

Vector2 CalculateDeltaToMoveThisFrame (

Vector2	position
float	distanceToEndOfPath
float	deltaTime

)

Calculates how far to move during a single frame.

void CalculatePathRequestEndpoints (

out Vector3	start
out Vector3	end

)

Outputs the start point and end point of the next automatic path request.

This is a separate method to make it easy for subclasses to swap out the endpoints of path requests. For example the #LocalSpaceRichAI script which requires the endpoints to be transformed to graph space first.

void CancelCurrentPathRequest ()

Vector3 ClampToNavmesh (

Vector3	position	Current position of the character.
out bool	positionChanged	True if the character's position was modified by this method.

)

Constrains the character's position to lie on the navmesh.

Not all movement scripts have support for this.

void ClearPath ()

Clears the current path of the agent.

Usually invoked using #SetPath(null)

void FinalizePosition (

Vector3

nextPosition

)

void FinalizeRotation (

Quaternion

nextRotation

)

void FixedUpdate ()

Called every physics update.

If rigidbodies are used then all movement happens here.

void Init ()

void MovementUpdateInternal (

float	deltaTime
out Vector3	nextPosition
out Quaternion	nextRotation

)

Called during either Update or FixedUpdate depending on if rigidbodies are used for movement or not.

void OnDisable ()

void OnDrawGizmos ()

void OnDrawGizmosSelected ()

void OnEnable ()

Called when the component is enabled.

void OnPathComplete (

Path

newPath

)

Called when a requested path has been calculated.

int OnUpgradeSerializedData (

int	version
bool	unityThread

)

Handle serialization backwards compatibility.

Vector3 RaycastPosition (

Vector3	position	Position of the character in the world.
float	lastElevation	Elevation coordinate before the agent was moved. This is along the 'up' axis of the movementPlane.

)

Checks if the character is grounded and prevents ground penetration.

Sets verticalVelocity to zero if the character is grounded.

void Reset ()

Handle serialization backwards compatibility.

void ResetShape ()

Quaternion SimulateRotationTowards (

Vector2	direction	Direction in the movement plane to rotate towards.
float	maxDegrees	Maximum number of degrees to rotate this frame.

)

Simulates rotating the agent towards the specified direction and returns the new rotation.

Note that this only calculates a new rotation, it does not change the actual rotation of the agent.

void Start ()

Starts searching for paths.

If you override this method you should in most cases call base.Start () at the start of it.

void Update ()

Called every frame.

If no rigidbodies are used then all movement happens here.

void UpdateVelocity ()

Vector3 accumulatedMovementDelta = Vector3.zero

Accumulated movement deltas from the Move method.

bool canSearchCompability = false

float centerOffsetCompatibility = float.NaN

CharacterController controller

Cached CharacterController component.

Vector2 lastDeltaPosition

Amount which the character wants or tried to move with during the last frame.

float lastDeltaTime

Delta time used for movement during the last frame.

int prevFrame

Last frame index when prevPosition1 was updated.

Vector3 prevPosition1

Position of the character at the end of the last frame.

Vector3 prevPosition2

Position of the character at the end of the frame before the last frame.

float repathRateCompatibility = float.NaN

Rigidbody rigid

Cached Rigidbody component.

Rigidbody2D rigid2D

Cached Rigidbody component.

RVOController rvoController

Cached RVOController component.

Seeker seeker

Cached Seeker component.

bool shouldRecalculatePath

True if the path should be automatically recalculated as soon as possible.

Vector3 simulatedPosition

Position of the agent.

If updatePosition is true then this value will be synchronized every frame with Transform.position.

Quaternion simulatedRotation

Rotation of the agent.

If updateRotation is true then this value will be synchronized every frame with Transform.rotation.

bool startHasRun = false

True if the Start method has been executed.

Used to test if coroutines should be started in OnEnable to prevent calculating paths in the awake stage (or rather before start on frame 0).

Transform targetCompatibility

Transform tr

Cached Transform component.

bool usingGravity

Indicates if gravity is used during this frame.

Vector2 velocity2D

Current desired velocity of the agent (does not include local avoidance and physics).

Lies in the movement plane.

float verticalVelocity

Velocity due to gravity.

Perpendicular to the movement plane.

When the agent is grounded this may not accurately reflect the velocity of the agent. It may be non-zero even though the agent is not moving.

bool waitingForPathCalculation = false

Only when the previous path has been calculated should the script consider searching for a new path.

bool canSearch

Enables or disables recalculating the path at regular intervals.

Setting this to false does not stop any active path requests from being calculated or stop it from continuing to follow the current path.

Note that this only disables automatic path recalculations. If you call the SearchPath() method a path will still be calculated.

float centerOffset

Offset along the Y coordinate for the ground raycast start position.

Normally the pivot of the character is at the character's feet, but you usually want to fire the raycast from the character's center, so this value should be half of the character's height.

A green gizmo line will be drawn upwards from the pivot point of the character to indicate where the raycast will start.

float repathRate

Determines how often the agent will search for new paths (in seconds).

The agent will plan a new path to the target every N seconds.

If you have fast moving targets or AIs, you might want to set it to a lower value.

bool? rotationIn2D

If true, the forward axis of the character will be along the Y axis instead of the Z axis.

Transform?? target

Target to move towards.

The AI will try to follow/move towards this target. It can be a point on the ground where the player has clicked in an RTS for example, or it can be the player object in a zombie game.