AstarAI.cs

using UnityEngine;
using System.Collections;
//Note this line, if it is left out, the script won't know that the class 'Path' exists and it will throw compiler errors
//This line should always be present at the top of scripts which use pathfinding
using Pathfinding;

public class AstarAI : MonoBehaviour
{
  //The point to move to
  public Transform target;

  private Seeker seeker;

  //The calculated path
  public Path path;

  //The AI's speed per second
  public float speed = 2;

  //The max distance from the AI to a waypoint for it to continue to the next waypoint
  public float nextWaypointDistance = 3;

  //The waypoint we are currently moving towards
  private int currentWaypoint = 0;

  public void Start ()
  {
    seeker = GetComponent<Seeker>();

    //Start a new path to the targetPosition, return the result to the OnPathComplete function
    seeker.StartPath( transform.position, target.position, OnPathComplete );
  }

  public void OnPathComplete ( Path p )
  {
    Debug.Log( "Yay, we got a path back. Did it have an error? " + p.error );
    if (!p.error)
    {
      path = p;
      //Reset the waypoint counter
      currentWaypoint = 0;
    }
  }

  public void FixedUpdate ()
  {
    if (path == null)
    {
      //We have no path to move after yet
      return;
    }

    if (currentWaypoint >= path.vectorPath.Count)
    {
      Debug.Log( "End Of Path Reached" );
      return;
    }

    //Direction to the next waypoint
    Vector3 dir = ( path.vectorPath[ currentWaypoint ] - transform.position ).normalized;
    dir *= speed * Time.fixedDeltaTime;
    this.gameObject.transform.Translate( dir );

    //Check if we are close enough to the next waypoint
    //If we are, proceed to follow the next waypoint
    if (Vector3.Distance( transform.position, path.vectorPath[ currentWaypoint ] ) < nextWaypointDistance)
    {
      currentWaypoint++;
      return;
    }
  }
}