AI controller specifically made for the spider robot. More...

Detailed Description

AI controller specifically made for the spider robot.

The spider robot (or mine-bot) which has been copied from the Unity Example Project can have this script attached to be able to pathfind around with animations working properly.
This script should be attached to a parent GameObject however since the original bot has Z+ as up. This component requires Z+ to be forward and Y+ to be up.
It overrides the AIPath class, see that class's documentation for more information on most variables.
Animation is handled by this component. The Animation component refered to in anim should have animations named "awake" and "forward". The forward animation will have it's speed modified by the velocity and scaled by animationSpeed to adjust it to look good. The awake animation will only be sampled at the end frame and will not play.
When the end of path is reached, if the endOfPathEffect is not null, it will be instantiated at the current position. However a check will be done so that it won't spawn effects too close to the previous spawn-point.

Public Member Functions
override void	OnTargetReached ()
	Called when the end of path has been reached. More...

new void	Start ()
	Starts searching for paths. More...

Public Member Functions inherited from AIPath
Vector3	CalculateVelocity (Vector3 position)
	Current desired velocity of the agent (excluding physics and local avoidance but it includes gravity). More...

override void	OnPathComplete (Path newPath)
	Called when a requested path has been calculated. More...

override void	Teleport (Vector3 newPosition, bool clearPath=true)
	Instantly move the agent to a new position. More...

Public Member Functions inherited from AIBase
virtual void	FinalizeMovement (Vector3 nextPosition, Quaternion nextRotation)
	Moves the agent to a position. More...

virtual Vector3	GetFeetPosition ()
	Position of the base of the character. More...

virtual void	Move (Vector3 deltaPosition)
	Move the agent. More...

void	MovementUpdate (float deltaTime, out Vector3 nextPosition, out Quaternion nextRotation)
	Calculate how the character wants to move during this frame. More...

virtual void	SearchPath ()
	Recalculate the current path. More...

Quaternion	SimulateRotationTowards (Vector3 direction, float maxDegrees)
	Simulates rotating the agent towards the specified direction and returns the new rotation. More...

Public Member Functions inherited from IAstarAI
void	FinalizeMovement (Vector3 nextPosition, Quaternion nextRotation)
	Move the agent. More...

void	Move (Vector3 deltaPosition)
	Move the agent. More...

void	MovementUpdate (float deltaTime, out Vector3 nextPosition, out Quaternion nextRotation)
	Calculate how the character wants to move during this frame. More...

void	SearchPath ()
	Recalculate the current path. More...

Public Attributes
Animation	anim
	Animation component. More...

float	animationSpeed = 0.2F
	Speed relative to velocity with which to play animations. More...

GameObject	endOfPathEffect
	Effect which will be instantiated when end of path is reached. More...

float	sleepVelocity = 0.4F
	Minimum velocity for moving. More...

Public Attributes inherited from AIPath
bool	alwaysDrawGizmos
	Draws detailed gizmos constantly in the scene view instead of only when the agent is selected and settings are being modified. More...

float	endReachedDistance = 0.2F
	Distance to the end point to consider the end of path to be reached. More...

float	pickNextWaypointDist = 2
	How far the AI looks ahead along the path to determine the point it moves to. More...

float	rotationSpeed = 360
	Rotation speed in degrees per second. More...

float	slowdownDistance = 0.6F
	Distance from the end of the path where the AI will start to slow down. More...

bool	slowWhenNotFacingTarget = true
	Slow down when not facing the target direction. More...

CloseToDestinationMode	whenCloseToDestination = CloseToDestinationMode.Stop
	What to do when within endReachedDistance units from the destination. More...

Public Attributes inherited from AIBase
bool	canMove = true
	Enables or disables movement completely. More...

bool	canSearch = true
	Enables or disables recalculating the path at regular intervals. More...

float	centerOffset = 1
	Offset along the Y coordinate for the ground raycast start position. More...

Vector3	gravity = new Vector3(float.NaN, float.NaN, float.NaN)
	Gravity to use. More...

LayerMask	groundMask = -1
	Layer mask to use for ground placement. More...

float	maxSpeed = 1
	Max speed in world units per second. More...

IMovementPlane	movementPlane = GraphTransform.identityTransform
	Plane which this agent is moving in. More...

float	repathRate = 0.5f
	Determines how often the agent will search for new paths (in seconds). More...

bool	rotationIn2D = false
	If true, the forward axis of the character will be along the Y axis instead of the Z axis. More...

bool	updatePosition = true
	Determines if the character's position should be coupled to the Transform's position. More...

bool	updateRotation = true
	Determines if the character's rotation should be coupled to the Transform's rotation. More...

Protected Member Functions
override void	Update ()
	Called every frame. More...

Protected Member Functions inherited from AIPath
virtual void	CalculateNextRotation (float slowdown, out Quaternion nextRotation)

override 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. More...

override void	OnDisable ()

override int	OnUpgradeSerializedData (int version, bool unityThread)
	Handle serialization backwards compatibility. More...

Protected Member Functions inherited from AIBase
	AIBase ()

void	ApplyGravity (float deltaTime)
	Accelerates the agent downwards. More...

Vector2	CalculateDeltaToMoveThisFrame (Vector2 position, float distanceToEndOfPath, float deltaTime)
	Calculates how far to move during a single frame. More...

virtual void	CalculatePathRequestEndpoints (out Vector3 start, out Vector3 end)
	Outputs the start point and end point of the next automatic path request. More...

void	CancelCurrentPathRequest ()

virtual Vector3	ClampToNavmesh (Vector3 position, out bool positionChanged)
	Constrains the character's position to lie on the navmesh. More...

virtual void	FindComponents ()

virtual void	FixedUpdate ()
	Called every physics update. More...

virtual void	OnDrawGizmos ()

virtual void	OnDrawGizmosSelected ()

virtual void	OnEnable ()
	Called when the component is enabled. More...

Vector3	RaycastPosition (Vector3 position, float lastElevation)
	Checks if the character is grounded and prevents ground penetration. More...

IEnumerator	RepeatTrySearchPath ()
	Tries to search for a path every repathRate seconds. More...

Quaternion	SimulateRotationTowards (Vector2 direction, float maxDegrees)
	Simulates rotating the agent towards the specified direction and returns the new rotation. More...

void	UpdateVelocity ()

Protected Member Functions inherited from VersionedMonoBehaviour
virtual void	Awake ()

Protected Attributes
Vector3	lastTarget
	Point for the last spawn of endOfPathEffect. More...

Protected Attributes inherited from AIPath
PathInterpolator	interpolator = new PathInterpolator()
	Helper which calculates points along the current path. More...

Path	path
	Current path which is followed. More...

Protected Attributes inherited from AIBase
CharacterController	controller
	Cached CharacterController component. More...

Vector2	lastDeltaPosition
	Amount which the character wants or tried to move with during the last frame. More...

float	lastDeltaTime
	Delta time used for movement during the last frame. More...

float	lastRepath = float.NegativeInfinity
	Time when the last path request was started. More...

int	prevFrame
	Last frame index when prevPosition1 was updated. More...

Vector3	prevPosition1
	Position of the character at the end of the last frame. More...

Vector3	prevPosition2
	Position of the character at the end of the frame before the last frame. More...

Rigidbody	rigid
	Cached Rigidbody component. More...

Rigidbody2D	rigid2D
	Cached Rigidbody component. More...

RVOController	rvoController
	Cached RVOController component. More...

Seeker	seeker
	Cached Seeker component. More...

Vector3	simulatedPosition
	Position of the agent. More...

Quaternion	simulatedRotation
	Rotation of the agent. More...

Transform	tr
	Cached Transform component. More...

Vector2	velocity2D
	Current desired velocity of the agent (does not include local avoidance and physics). More...

float	verticalVelocity
	Velocity due to gravity. More...

bool	waitingForPathCalculation = false
	Only when the previous path has been calculated should the script consider searching for a new path. More...

Additional Inherited Members
Static Protected Attributes inherited from AIBase
static readonly Color	GizmoColorRaycast = new Color(118.0f/255, 206.0f/255, 112.0f/255)

Properties inherited from AIPath
bool IAstarAI.	canMove `[get, set]`
	Enables or disables movement completely. More...

bool IAstarAI.	canSearch `[get, set]`
	Enables or disables recalculating the path at regular intervals. More...

bool	hasPath `[get]`
	True if this agent currently has a path that it follows. More...

float IAstarAI.	maxSpeed `[get, set]`
	Max speed in world units per second. More...

bool	pathPending `[get]`
	True if a path is currently being calculated. More...

bool	reachedEndOfPath `[get, protected set]`
	True if the agent has reached the end of the current path. More...

float	remainingDistance `[get]`
	Remaining distance along the current path to the end of the path. More...

float	speed `[get, set]`
	Maximum speed in world units per second. More...

Vector3	steeringTarget `[get]`
	Point on the path which the agent is currently moving towards. More...

Vector3	targetDirection `[get]`
	Direction that the agent wants to move in (excluding physics and local avoidance). More...

bool	TargetReached `[get]`
	True if the end of the path has been reached. More...

float	turningSpeed `[get, set]`
	Rotation speed. More...

Properties inherited from AIBase
Vector3	desiredVelocity `[get]`
	Velocity that this agent wants to move with. More...

Vector3	destination `[get, set]`
	Position in the world that this agent should move to. More...

bool	isStopped `[get, set]`
	Gets or sets if the agent should stop moving. More...

System.Action	onSearchPath `[get, set]`
	Called when the agent recalculates its path. More...

Vector3	position `[get]`
	Position of the agent. More...

Quaternion	rotation `[get]`
	Rotation of the agent. More...

virtual bool	shouldRecalculatePath `[get]`
	True if the path should be automatically recalculated as soon as possible. More...

Transform	target `[get, set]`
	Target to move towards. More...

bool	usingGravity `[get, private set]`
	Indicates if gravity is used during this frame. More...

Vector3	velocity `[get]`
	Actual velocity that the agent is moving with. More...

Properties inherited from IAstarAI
bool	canMove `[get, set]`
	Enables or disables movement completely. More...

bool	canSearch `[get, set]`
	Enables or disables recalculating the path at regular intervals. More...

Vector3	desiredVelocity `[get]`
	Velocity that this agent wants to move with. More...

Vector3	destination `[get, set]`
	Position in the world that this agent should move to. More...

bool	hasPath `[get]`
	True if this agent currently has a path that it follows. More...

bool	isStopped `[get, set]`
	Gets or sets if the agent should stop moving. More...

float	maxSpeed `[get, set]`
	Max speed in world units per second. More...

System.Action	onSearchPath `[get, set]`
	Called when the agent recalculates its path. More...

bool	pathPending `[get]`
	True if a path is currently being calculated. More...

Vector3	position `[get]`
	Position of the agent. More...

bool	reachedEndOfPath `[get]`
	True if the agent has reached the end of the current path. More...

float	remainingDistance `[get]`
	Remaining distance along the current path to the end of the path. More...

Quaternion	rotation `[get]`
	Rotation of the agent. More...

Vector3	steeringTarget `[get]`
	Point on the path which the agent is currently moving towards. More...

Vector3	velocity `[get]`
	Actual velocity that the agent is moving with. More...

Member Function Documentation

◆ OnTargetReached()

override void OnTargetReached ( )

virtual

Called when the end of path has been reached.

An effect (endOfPathEffect) is spawned when this function is called However, since paths are recalculated quite often, we only spawn the effect when the current position is some distance away from the previous spawn-point

Reimplemented from AIPath.

◆ Start()

new void Start ( )

virtual

Starts searching for paths.

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

See also: Init

Reimplemented from AIBase.

◆ Update()

override void Update ( )

protectedvirtual

Called every frame.

If no rigidbodies are used then all movement happens here.

Reimplemented from AIBase.

Member Data Documentation

◆ anim

Animation anim

Animation component.

Should hold animations "awake" and "forward"

◆ animationSpeed

float animationSpeed = 0.2F

Speed relative to velocity with which to play animations.

◆ endOfPathEffect

GameObject endOfPathEffect

Effect which will be instantiated when end of path is reached.

See also: OnTargetReached

◆ lastTarget

Vector3 lastTarget

protected

Point for the last spawn of endOfPathEffect.

◆ sleepVelocity

float sleepVelocity = 0.4F

Minimum velocity for moving.

The documentation for this class was generated from the following file:

/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/ExampleScenes/ExampleScripts/MineBotAI.cs

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members