NavMeshのサンプルコードagentLocomotionのCS化

agentLocomotion.cs

using UnityEngine;
using System.Collections;
[RequireComponent (typeof (NavMeshAgent))]
  
public class agentLocomotion : MonoBehaviour {
	
	private string locoState_ = "Locomotion_Stand";
	private NavMeshAgent agent_;
	private Animation anim_;
	private Vector3 linkStart_;
	private Vector3 linkEnd_;
	private Quaternion linkRot_;
	
	// Use this for initialization
	IEnumerator Start () {
		agent_ = GetComponent<NavMeshAgent>();
		agent_.autoTraverseOffMeshLink=false;
		AnimationSetup();
		
		while(Application.isPlaying){
			yield return StartCoroutine(locoState_);
		}
	}
	
	IEnumerator Locomotion_Stand(){
		do{
			UpdateAnimationBlend();
			yield return null;
		} while(agent_.remainingDistance==0);
		
		locoState_="Locomotion_Move";
		yield return null;
	}
	
	IEnumerator Locomotion_Move(){
		do{
			UpdateAnimationBlend();
			yield return null;
			
			if(agent_.isOnOffMeshLink){
				locoState_=SelectLinkAnimation();
				yield return null;
			}
		}while(agent_.remainingDistance!=0);
		
		locoState_="Locomotion_Stand";
		
		yield return null;
	}
	
	
	void UpdateAnimationBlend(){
		float walkAnimationSpeed = 1.5f;
		float runAnimationSpeed = 4.0f;
		float speedThreshold = 0.1f;
		
		Vector3 velocityXZ = new Vector3(agent_.velocity.x, 0.0f, agent_.velocity.z);
		float speed = velocityXZ.magnitude;
		
		anim_["Run"].speed = speed / runAnimationSpeed;
		anim_["Walk"].speed = speed / walkAnimationSpeed;

		if(speed > (walkAnimationSpeed+runAnimationSpeed)/2.0f) {
			anim_.CrossFade("Run");
		}
		else if(speed > speedThreshold) {
			anim_.CrossFade("Walk");
		} else {
			anim_.CrossFade("Idle", 0.1f, PlayMode.StopAll);
		}
	}
	
	void AnimationSetup(){
		anim_=GetComponent<Animation>();
		
		anim_["Walk"].layer = 1;
		anim_["Run"].layer = 1;
		anim_.SyncLayer(1);
		
		anim_["RunJump"].wrapMode = WrapMode.ClampForever;
		anim_["RunJump"].speed = 2;
		anim_["Ladder Up"].wrapMode = WrapMode.ClampForever;
		anim_["Ladder Up"].speed = 2;
		anim_["Ladder Down"].wrapMode = WrapMode.ClampForever;
		anim_["Ladder Down"].speed = 2;

		anim_.CrossFade("Idle", 0.1f, PlayMode.StopAll);
	}
	
	IEnumerator Locomotion_JumpAnimation(){
		string linkAnimationName = "RunJump";
		
		agent_.Stop(true);
		anim_.CrossFade(linkAnimationName, 0.1f, PlayMode.StopAll);
		transform.rotation=linkRot_;
		Vector3 posStartAnim = transform.position;
		
		do{
			float tlerp = anim_[linkAnimationName].normalizedTime;
			Vector3 newPos = Vector3.Lerp(posStartAnim, linkEnd_, tlerp);
			newPos.y += 0.4f*Mathf.Sin(3.14159f*tlerp);
			transform.position = newPos;
			
			yield return null;
		}while(anim_[linkAnimationName].normalizedTime < 1);
		
		anim_.Play("Idle");
		agent_.CompleteOffMeshLink();
		agent_.Resume();
		transform.position = linkEnd_;
		locoState_ = "Locomotion_Stand";
		yield return null;
	}
	
	IEnumerator Locomotion_LadderAnimation(){
		Vector3 linkCenter = 0.5f*(linkEnd_ + linkStart_);
		string linkAnimationName;
		if(transform.position.y > linkCenter.y) {
			linkAnimationName = "Ladder Down";
		} else {
			linkAnimationName = "Ladder Up";
		}
		
		agent_.Stop(true);
		
		Quaternion startRot = transform.rotation;
		Vector3 startPos = transform.position;
		float blendTime = 0.2f;
		float tblend = 0;
		
		do{
			transform.position = Vector3.Lerp(startPos, linkStart_, tblend/blendTime);
			transform.rotation = Quaternion.Slerp(startRot, linkRot_, tblend/blendTime);
			yield return null;
			tblend += Time.deltaTime;
		}while(tblend < blendTime);
		
		transform.position = linkStart_;
		
		anim_.CrossFade(linkAnimationName, 0.1f, PlayMode.StopAll);
		agent_.ActivateCurrentOffMeshLink(false);
		do {
			yield return null;
		} while(anim_[linkAnimationName].normalizedTime < 1);
		
		agent_.ActivateCurrentOffMeshLink(true);

		anim_.Play("Idle");
		transform.position = linkEnd_;
		agent_.CompleteOffMeshLink();
		agent_.Resume();

		locoState_ = "Locomotion_Stand";
		yield return null;
	}
	
	string SelectLinkAnimation(){
		OffMeshLinkData link = agent_.currentOffMeshLinkData;
		float distS = (transform.position - link.startPos).magnitude;
		float distE = (transform.position - link.endPos).magnitude;
		if(distS < distE) {
			linkStart_ = link.startPos;
			linkEnd_ = link.endPos;
		} else {
			linkStart_ = link.endPos;
			linkEnd_ = link.startPos;
		}
		
		Vector3 alignDir = linkEnd_ - linkStart_;
		alignDir.y = 0;
		linkRot_ = Quaternion.LookRotation(alignDir);

		if(link.linkType == OffMeshLinkType.LinkTypeManual) {
			return "Locomotion_LadderAnimation";
		} else {
			return "Locomotion_JumpAnimation";
		}
	}
	
	
	
	
	// Update is called once per frame
	void Update () {
	
	}
}