NavMeshTest.cs

using System.Collections;
using System.Collections.Generic;
using Unity.Collections;
using UnityEngine;
using UnityEngine.Assertions;
using UnityEngine.Experimental.AI;

public class NavMeshTest : MonoBehaviour
{
    [SerializeField] Transform start, end;

    const int extents = 10;
    const int maxPath = 32;

    IEnumerator Start()
    {
        NavMeshQuery query = new NavMeshQuery(NavMeshWorld.GetDefaultWorld(), Allocator.Persistent, maxPath);

        // ロケーション（NavMesh表面上の座標）の準備
        NavMeshLocation startLocation = query.MapLocation(start.position, Vector3.up * extents, 0);
        NavMeshLocation endLocation = query.MapLocation(end.position, Vector3.up * extents, 0);

        // パス検索の開始
        PathQueryStatus status;
        status = query.BeginFindPath(startLocation, endLocation);
        Assert.AreEqual(PathQueryStatus.InProgress, status);

        // パス検索中
        yield return new WaitWhile(() => {
            status = query.UpdateFindPath(8, out int iterationsPerformed);
            Debug.Log(status);
            return status == PathQueryStatus.InProgress;
        });
        Assert.AreEqual(PathQueryStatus.Success, status);

        // パス検索の終了、
        status = query.EndFindPath(out int pathsize);
        Assert.AreEqual(PathQueryStatus.Success, status);

        // パスの結果を受け取る
        NativeArray<PolygonId> path = new NativeArray<PolygonId>(pathsize, Allocator.Temp);
        int pathSize = query.GetPathResult(path);
        NativeArray<NavMeshLocation> pathStraigth = new NativeArray<NavMeshLocation>(maxPath, Allocator.Temp);
        NativeArray<StraightPathFlags> pathStreaigthFlag = new NativeArray<StraightPathFlags>(maxPath, Allocator.Temp);
        NativeArray<float> vertexSize = new NativeArray<float>(maxPath, Allocator.Temp);
        int streaigthPathCount = 0;

        status = PathUtils.FindStraightPath(query, start.position, end.position, path, pathSize, ref pathStraigth, ref pathStreaigthFlag, ref vertexSize, ref streaigthPathCount, maxPath);
        Assert.AreEqual(PathQueryStatus.Success, status);
        
        // 描画
        for (int i = 0; i < streaigthPathCount - 1; i++)
            Debug.DrawLine(pathStraigth[i].position, pathStraigth[i + 1].position, Color.red, 32);


        // 後片付け
        pathStraigth.Dispose();
        pathStreaigthFlag.Dispose();
        vertexSize.Dispose();

        path.Dispose();
        query.Dispose();
    }
}

request
https://gist.github.com/tsubaki/132b32212de8bdfd68a21c325d10f118