Unity 刚体导航完整版

private void FixedUpdate()
    {
        //刚体导航
        Vector3 direction = player.position - transform.position; //确定目标方向
        Vector3 deltavelocity = direction - rigid.velocity;
        rigid.AddForce(deltavelocity, ForceMode.Force);

        float rotationAngle = AngleAroundAxis(transform.forward, direction, Vector3.up);
        rigid.angularVelocity = Vector3.up * rotationAngle;
    }
    static float AngleAroundAxis(Vector3 dirA,Vector3 dirB,Vector3 axis)
    {
        dirA = dirA - Vector3.Project(dirA, axis);
        dirB = dirB - Vector3.Project(dirB, axis);

        float angle = Vector3.Angle(dirA, dirB);

        return angle * (Vector3.Dot(axis, Vector3.Cross(dirA, dirB)) < 0 ? -1 : 1);
    }