Unity Graph Agent

Agent.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

// a.k.a. Enemy
public class PFTest : MonoBehaviour {

	public Node start;
	private Node end;

	public float speed;
	public float threshold;

	public Node[] graph;
	private List<Node> path;
	private int currentNode;

	State currentState;
	private StateBehaviour currentBehaviour;

	private Symbol balear; // start walking
	private Symbol tocar; // walk faster
	private Symbol relajar;	// when not baleado, no camina

	// Use this for initialization
	void Start () {
		balear = new Symbol("balear");
		tocar = new Symbol("tocar");
		relajar = new Symbol("relajar");

		// states
		State relaxed = new State("relaxed", typeof(StateRelaxed)); // initial state
		State tocado = new State("tocado", typeof(StateTocado);
		State damaged = new State("damaged", typeof(StateDamaged));
		State dead = new State("dead", typeof(StateDead));

		// transition functions
		damaged.AddNeighbor(relajar, relaxed);
		damaged.AddNeighbor(tocar, tocado);
		damaged.AddNeighbor(balear, dead);

		tocado.AddNeighbor(relajar, relaxed);
		tocado.AddNeighbor(balear, damaged);
		tocado.AddNeighbor(tocar, damaged);

		relaxed.AddNeighbor(relajar, relaxed);
		relaxed.AddNeighbor(balear, damaged);
		relaxed.AddNeighbor(tocar, tocado);

		dead.AddNeighbor(relajar, dead);
		dead.AddNeighbor(balear, /*re*/dead);
		dead.AddNeighbor(tocar, dead);

		currentState = relaxed;
		currentBehaviour = (StateBehaviour) gameObject.AddComponent(currentState.Behaviour);
		currentBehaviour.enemy = this;

		FindPath (start);
	}

	IEnumerator CheckRelaxed(){
		while (true && currentState != dead) {

			currentState.ApplySymbol(relajar);

			if(temp != null && temp != currentState) {

				currentState = temp;

				// swap behaviour
				Destroy(currentBehaviour);
				currentBehaviour = (StateBehaviour) gameObject.AddComponent (currentState.Behaviour);
				currentBehaviour.enemy = this;
			}

			yield return new WaitForSeconds(10);
		}
	}

	void OnCollisionEnter(Collision col) {
		State temp = null;
		if (col.gameObject.tag = "Player") {
			temp = currentState.ApplySymbol(tocar);
		} else if (col.gameObject.tag = "Bullet") {
			temp = currentState.ApplySymbol(balear);
			Destroy(col.gameObject);
		}

		if (temp != null && temp != currentState) {
			currentState = temp;
			Destroy(currentBehaviour);
			currentBehaviour = (StateBehaviour) gameObject.AddComponent(currentState.Behaviour);
			currentBehaviour.enemy = this;
		}
	}

	void FindPath(Node start) {
		this.start = start;
		end = graph [Random.Range (0, graph.Length - 1)];
		path = Pathfinding.Breadthwise (start, end);

		for(int i = 0; i < path.Count; i++) {

			print (path[i].transform.name);
		}

		currentNode = 0;
	}

	void FindPath(Node start, Node end) {
		this.start = start;
		this.end = end;
		path = Pathfinding.Breadthwise (start, end);

		currentNode = 0;
	}

	// Update is called once per frame
	void Update () {
		if (currentNode != path.Count) {
			float distance = Vector3.Distance (transform.position, path [currentNode].transform.position);
			transform.LookAt (path [currentNode].transform);
			transform.Translate (transform.forward * Time.deltaTime * speed, Space.World);

			if (distance < threshold) {
				currentNode++;
			}
		} else {
			FindPath (path [currentNode - 1]);
		}
	}
}