Base class for AIPath and RichAI. More...

Detailed Description

Base class for AIPath and RichAI.

This class holds various methods and fields that are common to both AIPath and RichAI.

See also: Pathfinding.AIPath; Pathfinding.RichAI; Pathfinding.IAstarAI (all movement scripts implement this interface)

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

virtual void	FindComponents ()
	Looks for any attached components like RVOController and CharacterController etc. 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...

void	SetPath (Path path)
	Make the AI follow the specified path. More...

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

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

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

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

bool	enableRotation = true
	If true, the AI will rotate to face the movement direction. More...

float	endReachedDistance = 0.2f
	Distance to the end point to consider the end of path to be reached. 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	height = 2
	Radius of the agent in world units. More...

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

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

OrientationMode	orientation = OrientationMode.ZAxisForward
	Determines which direction the agent moves in. More...

float	radius = 0.5f
	Height of the agent in world units. More...

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

RVODestinationCrowdedBehavior	rvoDensityBehavior = new RVODestinationCrowdedBehavior(true, 0.5f, false)
	Controls if the agent slows down to a stop if the area around the destination is crowded. 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...

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

Static Public Attributes
static readonly Color	ShapeGizmoColor = new Color(240/255f, 213/255f, 30/255f)

Protected Member Functions
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...

abstract void	ClearPath ()
	Clears the current path of the agent. More...

abstract 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...

virtual void	OnDisable ()

virtual void	OnDrawGizmos ()

virtual void	OnDrawGizmosSelected ()

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

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

virtual void	OnUpdate (float dt)
	Called every frame. More...

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

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

override void	Reset ()
	Handle serialization backwards compatibility. More...

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

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

void	UpdateVelocity ()

Protected Member Functions inherited from VersionedMonoBehaviour
virtual void	Awake ()

Protected Attributes
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...

Properties
float	centerOffset `[get, set]`
	Offset along the Y coordinate for the ground raycast start position. 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	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...

abstract bool	reachedDestination `[get]`
	True if the ai has reached the destination. More...

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

bool	rotationIn2D `[get, set]`
	If true, the forward axis of the character will be along the Y axis instead of the Z axis. 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, 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 VersionedMonoBehaviour
int Util.IEntityIndex.	EntityIndex `[get, set]`
	Internal entity index used by #BurstBatchHelper. More...

Properties inherited from IEntityIndex
int	EntityIndex `[get, set]`

Private Member Functions
void	FinalizePosition (Vector3 nextPosition)

void	FinalizeRotation (Quaternion nextRotation)

void	Init ()

void	ResetShape ()

Static Private Member Functions
static void	OnUpdate (AIBase[] components, int count, BatchedEvents.Event ev)
	Called every frame. More...

Private Attributes
Vector3	accumulatedMovementDelta = Vector3.zero
	Accumulated movement deltas from the Move method. More...

float	centerOffsetCompatibility = float.NaN

Vector3	destinationBackingField = new Vector3(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity)
	Backing field for destination. More...

bool	startHasRun = false
	True if the Start method has been executed. More...

Transform	targetCompatibility

Member Function Documentation

◆ ApplyGravity()

void ApplyGravity ( float deltaTime )

protected

Accelerates the agent downwards.

See also: verticalVelocity; gravity

◆ CalculateDeltaToMoveThisFrame()

Vector2 CalculateDeltaToMoveThisFrame	(	Vector2	position,
		float	distanceToEndOfPath,
		float	deltaTime
	)

protected

Calculates how far to move during a single frame.

◆ CalculatePathRequestEndpoints()

virtual void CalculatePathRequestEndpoints	(	out Vector3	start,
		out Vector3	end
	)

protectedvirtual

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.

Reimplemented in LocalSpaceRichAI.

◆ CancelCurrentPathRequest()

void CancelCurrentPathRequest ( )

protected

◆ ClampToNavmesh()

virtual Vector3 ClampToNavmesh	(	Vector3	position,
		out bool	positionChanged
	)

protectedvirtual

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

Not all movement scripts have support for this.

Parameters

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

Returns: New position of the character that has been clamped to the navmesh.

Reimplemented in RichAI, and AIPath.

◆ ClearPath()

abstract void ClearPath ( )

protectedpure virtual

Clears the current path of the agent.

Usually invoked using #SetPath(null)

See also: SetPath; isStopped

Implemented in AIPath, and RichAI.

◆ FinalizeMovement()

virtual void FinalizeMovement	(	Vector3	nextPosition,
		Quaternion	nextRotation
	)

virtual

Moves the agent to a position.

Parameters

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

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).

See also: MovementUpdate for some example code.; controller, rigid, rigid2D

◆ FinalizePosition()

void FinalizePosition ( Vector3 nextPosition )

private

◆ FinalizeRotation()

void FinalizeRotation ( Quaternion nextRotation )

private

◆ FindComponents()

virtual void FindComponents ( )

virtual

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.

◆ GetFeetPosition()

virtual Vector3 GetFeetPosition ( )

virtual

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.

◆ Init()

void Init ( )

private

◆ Move()

virtual void Move ( Vector3 deltaPosition )

virtual

Move the agent.

Parameters

deltaPosition Direction and distance to move the agent in world space.

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);

◆ MovementUpdate()

void MovementUpdate	(	float	deltaTime,
		out Vector3	nextPosition,
		out Quaternion	nextRotation
	)

Calculate how the character wants to move during this frame.

Parameters

deltaTime	time to simulate movement for. Usually set to Time.deltaTime.
nextPosition	the position that the agent wants to move to during this frame.
nextRotation	the rotation that the agent wants to rotate to 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);
    }

◆ MovementUpdateInternal()

abstract void MovementUpdateInternal	(	float	deltaTime,
		out Vector3	nextPosition,
		out Quaternion	nextRotation
	)

protectedpure virtual

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

Implemented in RichAI, and AIPath.

◆ OnDisable()

virtual void OnDisable ( )

protectedvirtual

Reimplemented in AIPath, and RichAI.

◆ OnDrawGizmos()

virtual void OnDrawGizmos ( )

protectedvirtual

Reimplemented in RichAI.

◆ OnDrawGizmosSelected()

virtual void OnDrawGizmosSelected ( )

protectedvirtual

◆ OnEnable()

virtual void OnEnable ( )

protectedvirtual

Called when the component is enabled.

◆ OnPathComplete()

abstract void OnPathComplete ( Path newPath )

protectedpure virtual

Called when a requested path has been calculated.

Implemented in AIPath, RichAI, and LegacyAIPath.

◆ OnUpdate() [1/2]

static void OnUpdate	(	AIBase []	components,
		int	count,
		BatchedEvents.Event	ev
	)

staticprivate

Called every frame.

This may be called during FixedUpdate or Update depending on if a rigidbody is attached to the GameObject.

◆ OnUpdate() [2/2]

virtual void OnUpdate ( float dt )

protectedvirtual

Called every frame.

Reimplemented in LegacyAIPath, LocalSpaceRichAI, and LegacyRichAI.

◆ OnUpgradeSerializedData()

override int OnUpgradeSerializedData	(	int	version,
		bool	unityThread
	)

protectedvirtual

Handle serialization backwards compatibility.

Reimplemented from VersionedMonoBehaviour.

Reimplemented in RichAI, and AIPath.

◆ RaycastPosition()

Vector3 RaycastPosition	(	Vector3	position,
		float	lastElevation
	)

protected

Checks if the character is grounded and prevents ground penetration.

Parameters

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

Sets verticalVelocity to zero if the character is grounded.

Returns: The new position of the character.

◆ Reset()

override void Reset ( )

protectedvirtual

Handle serialization backwards compatibility.

Reimplemented from VersionedMonoBehaviour.

◆ ResetShape()

void ResetShape ( )

private

◆ SearchPath()

virtual void SearchPath ( )

virtual

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.

Note: The path result may not become available until after a few frames. During the calculation time the #pathPending property will return true.

See also: #pathPending

Reimplemented in RichAI.

◆ SetPath()

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 = ...

◆ SimulateRotationTowards() [1/2]

Quaternion SimulateRotationTowards	(	Vector3	direction,
		float	maxDegrees
	)

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

Parameters

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

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.

See also: orientation

◆ SimulateRotationTowards() [2/2]

Quaternion SimulateRotationTowards	(	Vector2	direction,
		float	maxDegrees
	)

protected

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

Parameters

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

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

See also: orientation; movementPlane

◆ Start()

virtual void Start ( )

protectedvirtual

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 in LocalSpaceRichAI.

◆ Teleport()

virtual void Teleport	(	Vector3	newPosition,
		bool	clearPath = `true`
	)

virtual

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.

See also: Works similarly to Unity's NavmeshAgent.Warp.; SearchPath

Reimplemented in RichAI, and AIPath.

◆ UpdateVelocity()

void UpdateVelocity ( )

protected

Member Data Documentation

◆ accumulatedMovementDelta

Vector3 accumulatedMovementDelta = Vector3.zero

private

Accumulated movement deltas from the Move method.

◆ canMove

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

See also: canSearch; isStopped

◆ canSearch

bool canSearch = true

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.

See also: canMove; isStopped

◆ centerOffsetCompatibility

float centerOffsetCompatibility = float.NaN

private

◆ controller

CharacterController controller

protected

Cached CharacterController component.

◆ destinationBackingField

Vector3 destinationBackingField = new Vector3(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity)

private

Backing field for destination.

◆ enableRotation

bool enableRotation = true

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

See also: orientation

◆ endReachedDistance

float endReachedDistance = 0.2f

Distance to the end point to consider the end of path to be reached.

When the end of the path is within this distance then #reachedEndOfPath will return true. When the destination is within this distance then reachedDestination will return true.

Note that the destination may not be reached just because the end of the path was reached. The destination may not be reachable at all.

See also: #reachedEndOfPath; reachedDestination

◆ gravity

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.

◆ groundMask

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.

See also: gravity; https://docs.unity3d.com/Manual/Layers.html

◆ height

float height = 2

Radius of the agent in world units.

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

Note: The Pathfinding.AILerp script doesn't really have any use of knowing the radius or the height of the character, so this property will always return 0 in that script.

◆ lastDeltaPosition

Vector2 lastDeltaPosition

protected

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

◆ lastDeltaTime

float lastDeltaTime

protected

Delta time used for movement during the last frame.

◆ lastRepath

float lastRepath = float.NegativeInfinity

protected

Time when the last path request was started.

◆ maxSpeed

float maxSpeed = 1

Max speed in world units per second.

◆ movementPlane

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.

◆ orientation

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.

◆ prevFrame

int prevFrame

protected

Last frame index when prevPosition1 was updated.

◆ prevPosition1

Vector3 prevPosition1

protected

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

◆ prevPosition2

Vector3 prevPosition2

protected

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

◆ radius

float radius = 0.5f

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.

Note: The Pathfinding.AILerp script doesn't really have any use of knowing the radius or the height of the character, so this property will always return 0 in that script.

◆ repathRate

float repathRate = 0.5f

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.

See also: shouldRecalculatePath; SearchPath

◆ rigid

Rigidbody rigid

protected

Cached Rigidbody component.

◆ rigid2D

Rigidbody2D rigid2D

protected

Cached Rigidbody component.

◆ rvoController

RVOController rvoController

protected

Cached RVOController component.

◆ rvoDensityBehavior

RVODestinationCrowdedBehavior rvoDensityBehavior = new RVODestinationCrowdedBehavior(true, 0.5f, false)

Controls if the agent slows down to a stop if the area around the destination is crowded.

Using this module requires that local avoidance is used: i.e. that an RVOController is attached to the GameObject.

See also: Pathfinding.RVO.RVODestinationCrowdedBehavior; Local Avoidance

A* Pro Feature:: This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited
The Pro version can be bought here

◆ seeker

Seeker seeker

protected

Cached Seeker component.

◆ ShapeGizmoColor

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

static

◆ simulatedPosition

Vector3 simulatedPosition

protected

Position of the agent.

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

◆ simulatedRotation

Quaternion simulatedRotation

protected

Rotation of the agent.

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

◆ startHasRun

bool startHasRun = false

private

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).

◆ targetCompatibility

Transform targetCompatibility

private

◆ tr

Transform tr

protected

Cached Transform component.

◆ updatePosition

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.

See also: Combined with calling MovementUpdate from a separate script instead of it being called automatically one can take a similar approach to what is documented here: https://docs.unity3d.com/Manual/nav-CouplingAnimationAndNavigation.html; canMove which in contrast to this field will disable all movement calculations.; updateRotation

◆ updateRotation

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.

See also: updatePosition

◆ velocity2D

Vector2 velocity2D

protected

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

Lies in the movement plane.

◆ verticalVelocity

float verticalVelocity

protected

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.

◆ waitingForPathCalculation

bool waitingForPathCalculation = false

protected

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

◆ whenCloseToDestination

CloseToDestinationMode whenCloseToDestination = CloseToDestinationMode.Stop

What to do when within endReachedDistance units from the destination.

The character can either stop immediately when it comes within that distance, which is useful for e.g archers or other ranged units that want to fire on a target. Or the character can continue to try to reach the exact destination point and come to a full stop there. This is useful if you want the character to reach the exact point that you specified.

Note: #reachedEndOfPath will become true when the character is within endReachedDistance units from the destination regardless of what this field is set to.

Property Documentation

◆ centerOffset

float centerOffset

getset

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.

See also: gravity

Deprecated:: Use the height property instead (2x this value)

◆ desiredVelocity

Vector3 desiredVelocity

get

Velocity that this agent wants to move with.

Includes gravity and local avoidance if applicable.

◆ destination

Vector3 destination

getset

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
    }

◆ isStopped

bool isStopped

getset

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.

Note: This is not the same as the canMove setting which some movement scripts have. The canMove setting disables movement calculations completely (which among other things makes it not be affected by local avoidance or gravity). For the AILerp movement script which doesn't use gravity or local avoidance anyway changing this property is very similar to changing canMove.

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

◆ onSearchPath

System.Action onSearchPath

getset

Called when the agent recalculates its path.

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

See also: Take a look at the Pathfinding.AIDestinationSetter source code for an example of how it can be used.

◆ position

Vector3 position

get

Position of the agent.

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

See also: Teleport; Move

◆ reachedDestination

abstract bool reachedDestination

get

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
    }

See also: #AIPath.endReachedDistance; #remainingDistance; #reachedEndOfPath

◆ rotation

Quaternion rotation

get

Rotation of the agent.

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

◆ rotationIn2D

bool rotationIn2D

getset

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

Deprecated:: Use orientation instead

◆ shouldRecalculatePath

virtual bool shouldRecalculatePath

getprotected

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

◆ target

Transform target

getset

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.

Deprecated:: In 4.1 this will automatically add a AIDestinationSetter component and set the target on that component. Try instead to use the destination property which does not require a transform to be created as the target or use the AIDestinationSetter component directly.

◆ usingGravity

bool usingGravity

getsetprotected

Indicates if gravity is used during this frame.

◆ velocity

Vector3 velocity

get

Actual velocity that the agent is moving with.

In world units per second.

See also: desiredVelocity

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

/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Core/AI/AIBase.cs

Detailed Description

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Properties

Private Member Functions

Static Private Member Functions

Private Attributes

Member Function Documentation

◆ ApplyGravity()

◆ CalculateDeltaToMoveThisFrame()

◆ CalculatePathRequestEndpoints()

◆ CancelCurrentPathRequest()

◆ ClampToNavmesh()

◆ ClearPath()

◆ FinalizeMovement()

◆ FinalizePosition()

◆ FinalizeRotation()

◆ FindComponents()

◆ GetFeetPosition()

◆ Init()

◆ Move()

◆ MovementUpdate()

◆ MovementUpdateInternal()

◆ OnDisable()

◆ OnDrawGizmos()

◆ OnDrawGizmosSelected()

◆ OnEnable()

◆ OnPathComplete()

◆ OnUpdate() [1/2]

◆ OnUpdate() [2/2]

◆ OnUpgradeSerializedData()

◆ RaycastPosition()

◆ Reset()

◆ ResetShape()

◆ SearchPath()

◆ SetPath()

◆ SimulateRotationTowards() [1/2]

◆ SimulateRotationTowards() [2/2]

◆ Start()

◆ Teleport()

◆ UpdateVelocity()

Member Data Documentation

◆ accumulatedMovementDelta

◆ canMove

◆ canSearch

◆ centerOffsetCompatibility

◆ controller

◆ destinationBackingField

◆ enableRotation

◆ endReachedDistance

◆ gravity

◆ groundMask

◆ height

◆ lastDeltaPosition

◆ lastDeltaTime

◆ lastRepath

◆ maxSpeed

◆ movementPlane

◆ orientation

◆ prevFrame

◆ prevPosition1

◆ prevPosition2

◆ radius

◆ repathRate

◆ rigid

◆ rigid2D

◆ rvoController

◆ rvoDensityBehavior

◆ seeker

◆ ShapeGizmoColor

◆ simulatedPosition

◆ simulatedRotation

◆ startHasRun

◆ targetCompatibility

◆ tr

◆ updatePosition

◆ updateRotation