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<!DOCTYPE html><html lang="en-US"><head><title>Unity Cookbook. Pathfinding</title><meta property="og:title" content="Unity Cookbook. 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/*!
* Marp default theme.
*
* @theme default
* @author Yuki Hattori
*
* @auto-scaling true
* @size 16:9 1280px 720px
* @size 4:3 960px 720px
*/div#\:\$p>svg>foreignObject>section,div#\:\$p>svg>foreignObject>section 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class="bespoke-marp-osc"><button data-bespoke-marp-osc="prev" tabindex="-1" title="Previous slide">Previous slide</button><span data-bespoke-marp-osc="page"></span><button data-bespoke-marp-osc="next" tabindex="-1" title="Next slide">Next slide</button><button data-bespoke-marp-osc="fullscreen" tabindex="-1" title="Toggle fullscreen (f)">Toggle fullscreen</button><button data-bespoke-marp-osc="presenter" tabindex="-1" title="Open presenter view (p)">Open presenter view</button></div><div id=":$p"><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="1" data-paginate="true" data-class="invert" data-heading-divider="3" lang="en-US" class="invert" data-marpit-pagination="1" style="--paginate:true;--class:invert;--heading-divider:3;" data-marpit-pagination-total="27">
<h1 id="pathfinding">Pathfinding</h1>
</section>
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<h2 id="artificial-intelligence-ai">Artificial Intelligence (AI)</h2>
<ul>
<li data-marpit-fragment="1">In video games, AI is a catch-all term for techniques to create <em><strong>seemingly</strong></em> intelligent non-player characters (NPCs)
<ul>
<li data-marpit-fragment="2">Nothing to do with <a href="https://en.wikipedia.org/wiki/Machine_learning">machine learning</a>, a technique behind more sophisticated AI systems</li>
</ul>
</li>
<li data-marpit-fragment="3">The most important problem in programming a game AI:
<ul>
<li data-marpit-fragment="4"><em>"How to figure out a path from A to B?"</em></li>
<li data-marpit-fragment="5">After this is solved, we can easily...
<ul>
<li data-marpit-fragment="6">make enemies patrol around</li>
<li data-marpit-fragment="7">make enemies follow the player</li>
<li data-marpit-fragment="8">make enemies attack other enemies?!?</li>
</ul>
</li>
</ul>
</li>
<li data-marpit-fragment="9">One of the earliest games to utilize pathfinding was <a href="https://en.wikipedia.org/wiki/Tanktics:_Computer_Game_of_Armored_Combat_on_the_Eastern_Front">Tanktics (1976)</a></li>
</ul>
</section>
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<h3 id="note">Note</h3>
<ul>
<li data-marpit-fragment="1">Pathfinding is not necessary to create interesting enemy behaviour, though
<ul>
<li data-marpit-fragment="2">In Super Mario Bros, enemies just go left and right</li>
</ul>
</li>
<li data-marpit-fragment="3">You can create complex behaviour out of reactive rules without pathfinding!</li>
</ul>
</section>
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<h2 id="quick-intro-to-unity-3d-navigation-system">Quick intro to Unity 3D Navigation System</h2>
<ul>
<li data-marpit-fragment="1"><a href="http://unity3d.com/learn/tutorials/topics/navigation">Learn: Navigation</a></li>
<li data-marpit-fragment="2"><a href="https://docs.unity3d.com/Manual/Navigation.html">Manual: Navigation and pathfinding</a></li>
<li data-marpit-fragment="3"><a href="https://docs.unity3d.com/Manual/nav-NavigationSystem.html">Manual: Navigation System in Unity</a></li>
<li data-marpit-fragment="4">In 3D, we can use the Unity Navigation System for pathfinding</li>
<li data-marpit-fragment="5">It consists of:
<ul>
<li data-marpit-fragment="6">NavMesh: walkable surfaces</li>
<li data-marpit-fragment="7">NavMesh Agent: entities that walk on NavMeshes</li>
<li data-marpit-fragment="8">NavMesh Link: shortcuts</li>
<li data-marpit-fragment="9">NavMesh Obstacle: movable objects blocking navigation</li>
</ul>
</li>
</ul>
</section>
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<h2 id="2d-pathfinding">2D pathfinding</h2>
<ul>
<li data-marpit-fragment="1">Unity doesn't have 2D NavMeshes by default, yay</li>
<li data-marpit-fragment="2">There are many 3rd party assets for that, though
<ul>
<li data-marpit-fragment="3"><a href="https://arongranberg.com/astar">Aron Granberg: A*</a> (This is the one we'll be using!)</li>
<li data-marpit-fragment="4"><a href="https://github.com/h8man/NavMeshPlus">H8man: NavMeshPlus</a></li>
<li data-marpit-fragment="5"><a href="http://www.jgallant.com/nodal-pathfinding-in-unity-2d-with-a-in-non-grid-based-games/">Nodal Pathfinding in Unity 2D with A*</a></li>
<li data-marpit-fragment="6"><a href="https://noobtuts.com/unity/navigation2d">noobtuts: Navigation2D</a></li>
</ul>
</li>
</ul>
</section>
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<h2 id="a-pathfinding-algorithm">A* pathfinding algorithm</h2>
<ul>
<li data-marpit-fragment="1"><a href="https://en.wikipedia.org/wiki/A*_search_algorithm">A*</a> (pronounced A-star) is a pathfinding algorithm commonly used in video games</li>
<li data-marpit-fragment="2">For an interactive example of A* and other pathfinding algorithms, see <a href="https://qiao.github.io/PathFinding.js/visual/">Pathfinding.js</a></li>
<li data-marpit-fragment="3">Pathfinding happens on a <em><strong>graph</strong></em>: a network of possible routes
<ul>
<li data-marpit-fragment="4">The network consists of nodes (a.k.a. <em><strong>waypoints</strong></em>) (marked with circles in the image) that are connected by lines</li>
</ul>
</li>
<li data-marpit-fragment="5">The path from point A (red circle) to point B (green circle) can only be created via connected nodes
<ul>
<li data-marpit-fragment="6">A gap in the map could be created by removing a connection between nodes</li>
</ul>
</li>
</ul>
</section>
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<h2 id="adding-a-pathfinding-to-your-2d-project">Adding A* pathfinding to your 2D project</h2>
<ol>
<li data-marpit-fragment="1">Download the free version of the A* project <a href="https://arongranberg.com/astar">here</a></li>
<li data-marpit-fragment="2">Drag and drop the downloaded Unitypackage file to your Unity editor, then click <em>Import</em>. Now it's in your Assets folder!</li>
<li data-marpit-fragment="3">Create a new Empty GameObject and name it <em>Pathfinder</em>.</li>
<li data-marpit-fragment="4">Add a new component, also named <em>Pathfinder</em> to it.</li>
</ol>
<ul>
<li data-marpit-fragment="5"><a href="https://arongranberg.com/astar/docs/getstarted.html">A* Docs: Getting started</a></li>
<li data-marpit-fragment="6"><a href="https://arongranberg.com/astar/docs/pathfinding2d.html">A* Docs: Pathfinding in 2D</a></li>
</ul>
</section>
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<h3 id="setting-up-the-pathfinder-component">Setting up the Pathfinder component</h3>
<ol start="5">
<li data-marpit-fragment="1"><em>Inspector > Add new Graph > Grid graph</em> (<a href="https://arongranberg.com/astar/docs/gridgraph.html">A* Docs: Grid graph</a>)</li>
<li data-marpit-fragment="2">Check the <em>2D</em> box. Now the graph should be visible in the Scene view.</li>
<li data-marpit-fragment="3">Also check the <em>Use 2D physics</em> box.</li>
<li data-marpit-fragment="4">Set the <em>Obstacle Layer Mask</em> to <em>Everything</em> or a specific <em><strong>layer</strong></em> of your collision tiles.
<ul>
<li data-marpit-fragment="5"><em><strong>Note:</strong></em> Not the sorting layer; a layer of the tilemap GameObject!</li>
</ul>
</li>
<li data-marpit-fragment="6">Make the graph bigger with the Scale tool to envelop the whole level.</li>
<li data-marpit-fragment="7">Click <em>Scan</em> in the bottom to update the grid. (Do this after every change!)</li>
<li data-marpit-fragment="8">Click on the <em>Eye icon</em> in your <em>Grid Graph</em> to hide the scan.</li>
</ol>
<ul>
<li data-marpit-fragment="9"><em><strong>Note:</strong></em> You can largen the <em>Diameter</em> if your paths go too close to walls.</li>
<li data-marpit-fragment="10"><em><strong>Note 2:</strong></em> Uncheck <em>Cut Corners</em> so the enemies won't</li>
</ul>
</section>
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<h3 id="setting-up-the-enemy">Setting up the enemy</h3>
<ol>
<li data-marpit-fragment="1">Create a new Empty GameObject named <em>Enemy</em></li>
<li data-marpit-fragment="2">Create a new 2D Sprite GameObject named <em>EnemyGfx</em> as the child of <em>Enemy</em></li>
<li data-marpit-fragment="3">Add a new component <em>AI Path (2D,3D)</em> to <em>Enemy</em>. This adds <em><strong>two</strong></em> components:
<ol>
<li data-marpit-fragment="4">a <a href="https://arongranberg.com/astar/docs/seeker.html">Seeker</a> script that seeks the path</li>
<li data-marpit-fragment="5">an <a href="https://arongranberg.com/astar/docs/aipath.html">AI path</a> script that controls the movement</li>
</ol>
</li>
<li data-marpit-fragment="6">For <em>AI Path</em>, set <em>Orientation</em> to <em>YAxisForward</em>.</li>
<li data-marpit-fragment="7">Add a <a href="https://arongranberg.com/astar/docs/aidestinationsetter.html">AI Destination Setter</a> component and drag <em>Player</em> to <em>Target</em> to make the enemy follow the player.</li>
</ol>
<ul>
<li data-marpit-fragment="8"><em><strong>Note:</strong></em> See links for documentation!</li>
</ul>
</section>
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<h3 id="fine-tuning">Fine-tuning</h3>
<ul>
<li data-marpit-fragment="1">AI Path settings to consider:
<ul>
<li data-marpit-fragment="2"><em>Pick Next Waypoint Dist</em>: The distance where the script picks the next waypoint</li>
<li data-marpit-fragment="3"><em>Max Speed</em></li>
<li data-marpit-fragment="4"><em>Radius</em></li>
<li data-marpit-fragment="5"><em>Gravity</em> (you might need to set this to <em>None</em>)</li>
<li data-marpit-fragment="6"><em>Enable Rotation</em></li>
</ul>
</li>
</ul>
</section>
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<ul>
<li data-marpit-fragment="1">To show the path in real time, enable <em>Gizmos > Seeker</em> in Game Mode.<br />
<img src="imgs/pathfinding-path.png" alt="" /></li>
</ul>
</section>
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<h2 id="path-scripting">Path Scripting</h2>
<ul>
<li data-marpit-fragment="1">In AI destination Setter component, the <em>Target</em> is a public variable, so you can change it from any script with<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#">_aiDestinationSetter.target = newTarget;
</code></pre>
</li>
<li data-marpit-fragment="2">Sometimes you need to scan the path again to update it dynamically:<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#">path.active.Scan();
</code></pre>
</li>
<li data-marpit-fragment="3">To add custom functionality to when AI Path has reached its target, you can add code to AIPath.cs in method <code>onTargetReached</code>:<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#"><span class="hljs-function"><span class="hljs-keyword">public</span> <span class="hljs-keyword">virtual</span> <span class="hljs-keyword">void</span> <span class="hljs-title">OnTargetReached</span> ()</span> {
SendMessage(<span class="hljs-string">"TargetIsReached"</span>);
}
</code></pre>
</li>
</ul>
</section>
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<h2 id="scripting-1-flip-the-sprite-based-on-velocity">Scripting 1. Flip the sprite based on velocity</h2>
<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#"><span class="hljs-keyword">using</span> Pathfinding;
[<span class="hljs-meta">SerializeField</span>] AIPath aiPath;
<span class="hljs-function"><span class="hljs-keyword">void</span> <span class="hljs-title">Update</span>()</span>
{
<span class="hljs-keyword">if</span> (aiPath.desiredVelocity.x > <span class="hljs-number">0.0f</span>)
_spriteRenderer.flipX = <span class="hljs-literal">false</span>;
<span class="hljs-keyword">else</span> <span class="hljs-keyword">if</span> (aiPath.desiredVelocity.x < <span class="hljs-number">0.0f</span>)
_spriteRenderer.flipX = <span class="hljs-literal">true</span>;
}
</code></pre>
</section>
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<h2 id="scripting-2-changing-target-when-on-screen">Scripting 2. Changing target when on screen</h2>
<ul>
<li data-marpit-fragment="1">When enemy is on screen, make it follow the player.</li>
<li data-marpit-fragment="2">Otherwise, make it return to its spawn point.</li>
<li data-marpit-fragment="3">Add an empty GameObject "EnemySpawnpoints" in the scene that will be used as a container for spawn points.</li>
</ul>
</section>
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<h3 id="i-setup">I. Setup</h3>
<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#"><span class="hljs-keyword">using</span> Pathfinding;
<span class="hljs-keyword">public</span> <span class="hljs-keyword">class</span> <span class="hljs-title">FollowOnScreen</span> : <span class="hljs-title">MonoBehaviour</span>
{
AIDestinationSetter aiset;
GameObject Player;
GameObject Spawnpoint;
GameObject Spawnpointcontainer;
<span class="hljs-function"><span class="hljs-keyword">void</span> <span class="hljs-title">Start</span>()</span>
{
aiset = GetComponent<AIDestinationSetter>();
Player = GameObject.FindGameObjectWithTag(<span class="hljs-string">"Player"</span>);
<span class="hljs-comment">// Find Enemyspawnpoints GameObject & create a new empty Spawnpoint as its child</span>
Spawnpointcontainer = GameObject.Find(<span class="hljs-string">"EnemySpawnpoints"</span>);
Spawnpoint = Instantiate(
<span class="hljs-keyword">new</span> GameObject(),
transform.position,
transform.rotation,
Spawnpointcontainer.transform
);
}
</code></pre>
</section>
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<h3 id="ii-behaviour">II. Behaviour</h3>
<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#"> <span class="hljs-function"><span class="hljs-built_in">bool</span> <span class="hljs-title">OnScreen</span>()</span>
{
<span class="hljs-built_in">float</span> cameraHalfHeight = Camera.main.orthographicSize;
<span class="hljs-built_in">float</span> cameraHalfWidth = cameraHalfHeight * Camera.main.aspect;
Vector3 difference = Camera.main.transform.position - transform.position;
<span class="hljs-keyword">return</span> (
Mathf.Abs(difference.x) < cameraHalfWidth
&& Mathf.Abs(difference.y) < cameraHalfHeight
);
}
<span class="hljs-function"><span class="hljs-keyword">void</span> <span class="hljs-title">Update</span>()</span>
{
<span class="hljs-keyword">if</span> (OnScreen())
aiset.target = Player.transform;
<span class="hljs-keyword">else</span>
aiset.target = Spawnpoint.transform;
}
}
</code></pre>
</section>
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<h2 id="scripting-3-moving-between-targets">Scripting 3. Moving between targets</h2>
<ul>
<li data-marpit-fragment="1">Enemy has an empty child GameObject <em>Patrolpoints</em> that contains empty GameObjects <em>Point1</em>, <em>Point2</em>, etc.
<ul>
<li data-marpit-fragment="2">These are the targets the enemy moves between</li>
</ul>
</li>
<li data-marpit-fragment="3">We don't create any new GameObjects now, but instead we move the whole <em>Patrolpoints</em> GameObject under the <em>EnemyPatrolpoints</em> GameObject.</li>
<li data-marpit-fragment="4">We add the patrol point transforms to a list.</li>
<li data-marpit-fragment="5">Then, when enemy reaches a point, it gets assigned the next target on the list.</li>
</ul>
</section>
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<h3 id="i-setup-1">I. Setup</h3>
<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#"><span class="hljs-keyword">using</span> Pathfinding;
<span class="hljs-keyword">public</span> <span class="hljs-keyword">class</span> <span class="hljs-title">PatrolEnemy</span> : <span class="hljs-title">MonoBehaviour</span>
{
AIDestinationSetter aiset;
AIPath aipath;
[<span class="hljs-meta">SerializeField</span>] List<Transform> patrolPoints = <span class="hljs-keyword">new</span> List<Transform>();
[<span class="hljs-meta">SerializeField</span>] <span class="hljs-built_in">int</span> currentTarget;
<span class="hljs-function"><span class="hljs-keyword">void</span> <span class="hljs-title">Start</span>()</span>
{
aiset = GetComponent<AIDestinationSetter>();
aipath = GetComponent<AIPath>();
<span class="hljs-comment">// move patrolpoints under enemypatrolpoints so they won't move as enemy moves</span>
Transform points = transform.Find(<span class="hljs-string">"Patrolpoints"</span>);
GameObject newParent = GameObject.Find(<span class="hljs-string">"EnemyPatrolpoints"</span>);
points.SetParent(newParent.transform);
<span class="hljs-keyword">for</span> (<span class="hljs-built_in">int</span> i = <span class="hljs-number">0</span>; i < points.childCount; i++)
{
patrolPoints.Add(points.GetChild(i));
}
SetCurrentTarget(<span class="hljs-number">0</span>);
}
</code></pre>
</section>
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<h3 id="ii-behaviour-1">II. Behaviour</h3>
<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#"> <span class="hljs-function"><span class="hljs-keyword">void</span> <span class="hljs-title">SetCurrentTarget</span>(<span class="hljs-params"><span class="hljs-built_in">int</span> i</span>)</span>
{
<span class="hljs-comment">// modulo makes sure we choose a target from the list</span>
aiset.target = patrolPoints[i % patrolPoints.Count];
currentTarget = i % patrolPoints.Count;
}
<span class="hljs-function"><span class="hljs-keyword">void</span> <span class="hljs-title">Update</span>()</span>
{
Vector3 distance = aiset.target.transform.position - transform.position;
<span class="hljs-comment">// endReachedDistance can be changed in AI Path component's inspector </span>
<span class="hljs-keyword">if</span> (distance.magnitude < aipath.endReachedDistance)
SetCurrentTarget(currentTarget + <span class="hljs-number">1</span>);
}
}
</code></pre>
</section>
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<h2 id="scripting-4-custom-behaviour">Scripting 4. Custom behaviour</h2>
<ul>
<li data-marpit-fragment="1">The following Enemy behaviour script is an alternative to the <em>AI Path</em> and <em>AI Destination Setter</em> scripts, so remove them if you follow these.
<ul>
<li data-marpit-fragment="2">You do need the <em>Seeker</em> script, however!</li>
</ul>
</li>
<li data-marpit-fragment="3">Add a Collider component so your Enemy can't walk through obstacles.</li>
<li data-marpit-fragment="4">Add a Rigidbody so you can control your Enemy with forces and collisions.</li>
</ul>
</section>
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<h3 id="i-initializations">I. Initializations</h3>
<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#"><span class="hljs-keyword">using</span> System.Collections;
<span class="hljs-keyword">using</span> System.Collections.Generic;
<span class="hljs-keyword">using</span> UnityEngine;
<span class="hljs-keyword">using</span> Pathfinding;
<span class="hljs-keyword">public</span> <span class="hljs-keyword">class</span> <span class="hljs-title">EnemyAI</span>: <span class="hljs-title">MonoBehaviour</span>
{
[<span class="hljs-meta">SerializeField</span>] Transform target;
[<span class="hljs-meta">SerializeField</span>] <span class="hljs-built_in">float</span> speed = <span class="hljs-number">200f</span>;
[<span class="hljs-meta">SerializeField</span>] <span class="hljs-built_in">float</span> nextWaypointDistance = <span class="hljs-number">3f</span>;
Path path;
Seeker seeker;
Rigidbody2D rb;
<span class="hljs-built_in">int</span> currentWaypoint = <span class="hljs-number">0</span>;
<span class="hljs-built_in">bool</span> reachedEndOfPath = <span class="hljs-literal">false</span>;
...
I
</code></pre>
</section>
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<h3 id="ii-start-updatepath-onpathcomplete">II. Start, UpdatePath, OnPathComplete</h3>
<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#"><span class="hljs-function"><span class="hljs-keyword">void</span> <span class="hljs-title">Start</span>()</span>
{
seeker = GetComponent<Seeker>();
rb = GetComponent<Rigidbody2D>();
InvokeRepeating(<span class="hljs-string">"UpdatePath"</span>, Of, <span class="hljs-number">.5</span>f);
}
<span class="hljs-function"><span class="hljs-keyword">void</span> <span class="hljs-title">UpdatePath</span>()</span>
{
<span class="hljs-keyword">if</span> (seeker.IsDone())
seeker.StartPath(rb.position, target.position, OnPathComplete);
}
<span class="hljs-function"><span class="hljs-keyword">void</span> <span class="hljs-title">OnPathComplete</span> (<span class="hljs-params">Path p</span>)</span>
{
<span class="hljs-keyword">if</span> (!p.error)
{
path = p;
currentWaypoint = <span class="hljs-number">0</span>;
}
}
</code></pre>
</section>
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<h3 id="iii-fixedupdate">III. FixedUpdate</h3>
<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#"><span class="hljs-function"><span class="hljs-keyword">void</span> <span class="hljs-title">FixedUpdate</span>()</span>
{
<span class="hljs-keyword">if</span> (path == <span class="hljs-literal">null</span>)
<span class="hljs-keyword">return</span>;
<span class="hljs-keyword">if</span> (currentWaypoint >= path.vectorPath.Count)
{
reachedEndOfPath = <span class="hljs-literal">true</span>;
<span class="hljs-keyword">return</span>;
}
<span class="hljs-keyword">else</span>
{
reachedEndOfPath = <span class="hljs-literal">false</span>;
}
Vector2 direction = ((Vector2) path.vectorPath[currentWaypoint] - rb.position).normalized;
Vector2 force = direction * speed * Time.deltaTime;
rb.AddForce(force);
<span class="hljs-built_in">float</span> distance = Vector2.Distance(rb.position, path.vectorPath[currentWaypoint]);
<span class="hljs-keyword">if</span> (distance < nextWaypointDistance)
{
currentWaypoint++;
}
}
</code></pre>
</section>
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<h2 id="exercise-0-point-and-click">Exercise 0. Point and click</h2>
<p>Make a point and click character controller:</p>
<ul>
<li data-marpit-fragment="1">When you click on a walkable spot, make the character walk to it.</li>
</ul>
</section>
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<h2 id="exercise-1-enemy-on-patrol">Exercise 1. Enemy on patrol</h2>
<p>Create a non-player character that patrols between three points on a 2d top-down area.</p>
</section>
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<h2 id="exercise-2-tactical-espionage-action">Exercise 2. Tactical Espionage Action</h2>
<p>Add a visibility cone for the enemy. If it sees the player, make it follow it.</p>
<p>If the player is outside the visibility cone for five seconds, make the enemy return to its patrol route.</p>
</section>
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<h2 id="learning">Learning</h2>
<ul>
<li data-marpit-fragment="1"><a href="https://www.youtube.com/watch?v=jvtFUfJ6CP8">Brackeys video: 2D Pathfinding</a></li>
<li data-marpit-fragment="2"><a href="https://www.youtube.com/watch?v=9bbhJi0NBkk">GMTK: What Makes Good AI?</a></li>
<li data-marpit-fragment="3"><a href="https://www.gamedevs.org/uploads/three-states-plan-ai-of-fear.pdf">Jeff Orkin: Three States and a Plan: The A.I. of F.E.A.R.</a></li>
</ul>
</section>
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