Class RichAI Extends AIBase, IAstarAI

void GetRemainingPath (

List<Vector3>	buffer	The buffer will be cleared and replaced with the path. The first point is the current position of the agent.
out bool	stale	May be true if the path is invalid in some way. For example if the agent has no path or (for the RichAI script only) if the agent has detected that some nodes in the path have been destroyed.

)

Fills buffer with the remaining path.

var buffer = new List<Vector3>();

ai.GetRemainingPath(buffer, out bool stale);
for (int i = 0; i < buffer.Count - 1; i++) {
Debug.DrawLine(buffer[i], buffer[i+1], Color.red);
}


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 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.

When setting transform.position directly the agent will be clamped to the part of the navmesh it can reach, so it may not end up where you wanted it to. This ensures that the agent can move to any part of the navmesh.

float acceleration = 5

Max acceleration of the agent.

In world units per second per second.

bool approachingPartEndpoint

True if approaching the last waypoint in the current part of the path.

Path parts are separated by off-mesh links.

bool approachingPathEndpoint

True if approaching the last waypoint of all parts in the current path.

Path parts are separated by off-mesh links.

Vector3? endOfPath

End point of path the agent is currently following.

If the agent has no path (or it might not be calculated yet), this will return the destination instead. If the agent has no destination it either it will return (+inf,+inf,+inf).

The end of the path is usually identical or very close to the destination, but it may differ if the path for example was blocked by a wall so that the agent couldn't get any closer.

This is only updated when the path is recalculated.

float endReachedDistance = 0.01f

Max distance to the endpoint to consider it reached.

bool funnelSimplification = false

Use funnel simplification.

On tiled navmesh maps, but sometimes on normal ones as well, it can be good to simplify the funnel as a post-processing step to make the paths straighter.

This has a moderate performance impact during frames when a path calculation is completed.

The RichAI script uses its own internal funnel algorithm, so you never need to attach the FunnelModifier component.

bool hasPath

True if this agent currently has a path that it follows.

System.Func<RichSpecial, IEnumerator> onTraverseOffMeshLink

Called when the agent starts to traverse an off-mesh link.

Register to this callback to handle off-mesh links in a custom way.

If this event is set to null then the agent will fall back to traversing off-mesh links using a very simple linear interpolation.

void OnEnable () {
ai = GetComponent<RichAI>();
if (ai != null) ai.onTraverseOffMeshLink += TraverseOffMeshLink;
}

void OnDisable () {
if (ai != null) ai.onTraverseOffMeshLink -= TraverseOffMeshLink;
}

IEnumerator TraverseOffMeshLink (RichSpecial link) {
// Traverse the link over 1 second
float startTime = Time.time;

while (Time.time < startTime + 1) {
transform.position = Vector3.Lerp(link.first.position, link.second.position, Time.time - startTime);
yield return null;
}
transform.position = link.second.position;
}


bool pathPending

True if a path is currently being calculated.

bool reachedDestination

True if the ai has reached the destination.

This is a best effort calculation to see if the destination has been reached. For the AIPath/RichAI scripts, this is when the character is within endReachedDistance world units from the destination. For the AILerp script it is when the character is at the destination (±a very small margin).

This value will be updated immediately when the destination is changed (in contrast to reachedEndOfPath), however since path requests are asynchronous it will use an approximation until it sees the real path result. What this property does is to check the distance to the end of the current path, and add to that the distance from the end of the path to the destination (i.e. is assumes it is possible to move in a straight line between the end of the current path to the destination) and then checks if that total distance is less than endReachedDistance. This property is therefore only a best effort, but it will work well for almost all use cases.

Furthermore it will not report that the destination is reached if the destination is above the head of the character or more than half the height of the character below its feet (so if you have a multilevel building, it is important that you configure the height of the character correctly).

The cases which could be problematic are if an agent is standing next to a very thin wall and the destination suddenly changes to the other side of that thin wall. During the time that it takes for the path to be calculated the agent may see itself as alredy having reached the destination because the destination only moved a very small distance (the wall was thin), even though it may actually be quite a long way around the wall to the other side.

In contrast to reachedEndOfPath, this property is immediately updated when the destination is changed.

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
}


bool reachedEndOfPath

True if the agent has reached the end of the current path.

Note that setting the destination does not immediately update the path, nor is there any guarantee that the AI will actually be able to reach the destination that you set. The AI will try to get as close as possible. Often you want to use reachedDestination instead which is easier to work with.

It is very hard to provide a method for detecting if the AI has reached the destination that works across all different games because the destination may not even lie on the navmesh and how that is handled differs from game to game (see also the code snippet in the docs for destination).

float remainingDistance

Approximate remaining distance along the current path to the end of the path.

The RichAI movement script approximates this distance since it is quite expensive to calculate the real distance. However it will be accurate when the agent is within 1 corner of the destination. You can use GetRemainingPath to calculate the actual remaining path more precisely.

The AIPath and AILerp scripts use a more accurate distance calculation at all times.

If the agent does not currently have a path, then positive infinity will be returned.

bool repeatedlySearchPaths

Search for new paths repeatedly.

float rotationSpeed = 360

Max rotation speed of the agent.

In degrees per second.

bool slowWhenNotFacingTarget = true

Slow down when not facing the target direction.

Incurs at a small performance overhead.

float slowdownTime = 0.5f

How long before reaching the end of the path to start to slow down.

A lower value will make the agent stop more abruptly.

If set to zero the agent will not even attempt to slow down. This can be useful if the target point is not a point you want the agent to stop at but it might for example be the player and you want the AI to slam into the player.

Vector3 steeringTarget

Point on the path which the agent is currently moving towards.

This is usually a point a small distance ahead of the agent or the end of the path.

If the agent does not have a path at the moment, then the agent's current position will be returned.

bool traversingOffMeshLink

float wallDist = 1

Walls within this range will be used for avoidance.

Setting this to zero disables wall avoidance and may improve performance slightly

float wallForce = 3

Force to avoid walls with.

The agent will try to steer away from walls slightly.

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 SetPath (

Path	path	The path to follow.
bool	updateDestinationFromPath=true	If true, the destination property will be set to the end point of the path. If false, the previous destination value will be kept.

)

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 = ...


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

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.

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. In world units per second.

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.

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.

Vector2 CalculateWallForce (

Vector2	position
float	elevation
Vector2	directionToTarget

)

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 FinalMovement (

Vector3	position3D
float	deltaTime
float	distanceToEndOfPath
float	slowdownFactor
out Vector3	nextPosition
out Quaternion	nextRotation

)

void FixedUpdate ()

Called every physics update.

If rigidbodies are used then all movement happens here.

Color GizmoColorPath = new Color(8.0f/255, 78.0f/255, 194.0f/255)

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 NextPart ()

Declare that the AI has completely traversed the current part.

This will skip to the next part, or call OnTargetReached if this was the last part

void OnDisable ()

Called when the component is disabled.

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.

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 TraverseFunnel (

RichFunnel	fn
float	deltaTime
out Vector3	nextPosition
out Quaternion	nextRotation

)

IEnumerator TraverseOffMeshLinkFallback (

RichSpecial

link

)

Fallback for traversing off-mesh links in case onTraverseOffMeshLink is not set.

This will do a simple linear interpolation along the link.

IEnumerator TraverseSpecial (

RichSpecial

link

)

Traverses an off-mesh link.

void Update ()

Called every frame.

If no rigidbodies are used then all movement happens here.

Vector3 UpdateTarget (

RichFunnel

fn

)

void UpdateVelocity ()

void UpgradeSerializedData (

bool

isUnityThread

)

Animation animCompatibility

bool IAstarAI. canMove

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

bool IAstarAI. 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.

CharacterController controller

Cached CharacterController component.

bool delayUpdatePath

float distanceToSteeringTarget = float.PositiveInfinity

Distance to steeringTarget in the movement plane.

float IAstarAI. height

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 lastCorner

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.

float IAstarAI. maxSpeed

Max speed in world units per second.

List<Vector3> nextCorners = new List<Vector3>()

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 IAstarAI. radius

Radius of the agent in world units.

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

RichPath richPath = new RichPath()

Holds the current path that this agent is following.

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.

bool shouldRecalculatePath

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.

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.

List<Vector3> wallBuffer = new List<Vector3>()

bool ApproachingPartEndpoint

bool ApproachingPathEndpoint

float DistanceToNextWaypoint

Vector3 NextWaypoint

Waypoint that the agent is moving towards.

This is either a corner in the path or the end of the path.

void OnTargetReached ()

Called when the end of the path is reached.

bool PathPending

True if a path to the target is currently being calculated.

Vector3 TargetPoint

Current waypoint that the agent is moving towards.

bool TargetReached

True if the end of the path has been reached.

bool TraversingSpecial

void UpdatePath ()

Force recalculation of the current path.

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).

Vector3 Velocity

Current velocity of the agent.

Includes velocity due to gravity.

Animation? anim

Anim for off-mesh links.