Unity寻路导航系统AI Navigation概述

Unity的AI Navigation系统是用于实现游戏角色自主移动的核心工具，支持静态与动态障碍物避让、复杂地形路径计算。该系统基于Recast Navigation开源库，提供可视化烘焙工具和运行时API，适用于NPC巡逻、敌人追击等场景。

导航网格生成与烘焙

导航网格（NavMesh）是AI Navigation的基础数据结构，通过以下步骤生成：

在场景中选择需烘焙的静态物体，确保勾选"Navigation Static"属性。
打开Window > AI > Navigation窗口，设置Agent Radius（0.5）、Height（2.0）等参数。
点击Bake按钮生成蓝色导航区域，斜坡角度默认为45度可通过修改Max Slope调整。

复杂地形处理技巧：

使用NavMesh Modifier组件标记不可行走区域
通过NavMesh Link连接断开的地面区域
分层烘焙处理多高度层级场景

基础寻路实现

为游戏对象添加NavMeshAgent组件后，通过简单脚本即可实现寻路：

using UnityEngine;
using UnityEngine.AI;

public class Pathfinder : MonoBehaviour {
    public Transform target;
    private NavMeshAgent agent;

    void Start() {
        agent = GetComponent<NavMeshAgent>();
        agent.SetDestination(target.position);
    }
}

关键参数调节：

Speed：移动速度基准值
Angular Speed：转向速度
Stopping Distance：停止距离阈值
Auto Braking：接近目标时自动减速

动态障碍物处理

实现动态避障需结合NavMeshObstacle组件：

为移动障碍物添加NavMeshObstacle组件
设置Shape为Box或Capsule匹配碰撞体
启用Carve选项实时更新导航网格
调整Move Threshold控制更新频率

// 动态启用障碍物
void EnableObstacle() {
    NavMeshObstacle obstacle = GetComponent<NavMeshObstacle>();
    obstacle.enabled = true;
    obstacle.carving = true;
}

高级路径控制技术

局部回避与人群模拟：

添加NavMeshAgent时自动启用回避
通过agent.avoidancePriority设置优先级（0-99）
使用Physics.OverlapSphere检测周围Agent

自定义路径计算：

// 路径预计算
NavMeshPath path = new NavMeshPath();
if (NavMesh.CalculatePath(transform.position, target.position, NavMesh.AllAreas, path)) {
    // 绘制路径调试
    for (int i = 0; i < path.corners.Length - 1; i++)
        Debug.DrawLine(path.corners[i], path.corners[i + 1], Color.red);
}

性能优化策略

导航网格优化：

合理设置Agent Size减少烘焙面片
使用NavMesh Collect Geometry的Render Meshes模式
复杂场景采用Tile-Based分块烘焙

运行时优化：

限制同时进行路径查询的Agent数量
使用agent.isStopped暂停非活跃Agent
对大批量Agent采用RVO避障替代标准回避

典型应用案例

FPS敌人AI实现流程：

烘焙包含掩体的战场导航网格
为敌人预制体添加NavMeshAgent
实现巡逻点循环路径逻辑
添加玩家检测触发追击行为
结合动画控制器控制移动状态

// 简单巡逻系统
public class PatrolAI : MonoBehaviour {
    public Transform[] waypoints;
    private int currentWaypoint;
    private NavMeshAgent agent;

    void Start() {
        agent = GetComponent<NavMeshAgent>();
        MoveToNextWaypoint();
    }

    void Update() {
        if (agent.remainingDistance < 0.5f)
            MoveToNextWaypoint();
    }

    void MoveToNextWaypoint() {
        currentWaypoint = (currentWaypoint + 1) % waypoints.Length;
        agent.SetDestination(waypoints[currentWaypoint].position);
    }
}

调试与问题排查

常见问题解决方案：

紫色导航网格：检查烘焙区域是否封闭
Agent卡住：调整Step Height或关闭Auto Traverse OffMeshLink
路径抖动：降低Avoidance Prediction Time
性能下降：启用NavMeshAgent.autoRepath优化路径重计算

调试工具：

场景视图开启Navigation显示模式
使用NavMeshHit检测路径可达性
通过OnDrawGizmos可视化检测范围

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#牛客AI配图神器#

Unity AI导航：打造智能角色寻路系统