路径点巡逻

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

public class Move : MonoBehaviour
{
    public Transform[] points;
    public float speed;
    int index = 0;
    float dis;
    public float minDis;
    // 记录转身前的角度
    private Quaternion raw_rotation;
    // 准备面向的角度
    private Quaternion lookat_rotation;
    // 转身速度(每秒能转多少度)  
    public float per_second_rotate = 50.0f;
    // 旋转角度越大, lerp变化速度就应该越慢 
    public float lerp_speed = 1.0f;
    // lerp的动态参数
    public float lerp_tm = 0.0f;
    void Start()
    {
        Init_Rotate();
    }

    // Update is called once per frame
    void Update()
    {
        dis = Vector3.Distance(transform.position, points[index].position);
        if (dis > minDis)
        {
            Rotate_Func();
            transform.Translate(Vector3.forward * speed*Time.deltaTime);
        }
        else
        {
            index++;
            if (index == points.Length)
            {
                index = 0;
            }
            Init_Rotate();
        }
    }
    // 旋转之前的初始化
    void Init_Rotate()
    {
        // 记录转身前的角度
        raw_rotation = transform.rotation;
        // 记录目标角度
        transform.LookAt(points[index]);
        lookat_rotation = transform.rotation;
        // 还原当前角度
        transform.rotation = raw_rotation;
        // 计算旋转角度
        float rotate_angle = Quaternion.Angle(raw_rotation, lookat_rotation);
        // 获得lerp速度
        lerp_speed = per_second_rotate / rotate_angle;
        Debug.Log("Angle:" + rotate_angle.ToString() + " speed:" + lerp_speed.ToString());
        lerp_tm = 0.0f;
    }

    // 旋转逻辑, 在update中调用
    void Rotate_Func()
    {
        lerp_tm += Time.deltaTime * lerp_speed;
        transform.rotation = Quaternion.Lerp(raw_rotation, lookat_rotation, lerp_tm);
        if (lerp_tm >= 1)
        {
            transform.rotation = lookat_rotation;
            // 此时, 转身完毕, 已经对着目标物体
        }
    }
}