Modification of AIFollow.cs Pathfinding

public Transform target; private CharacterController controller; private AIAnimation animator; private Seeker seeker;

public Vector3 myPosition; public Transform[] enemies; public float distance;

// Make sure there is always a character controller

public enum Command { Stay, Walk }

public IEnumerator Start () { //public IEnumerator Start ()

 waypointPosition = transform.position;
 command = Command.Stay;
 controller = GetComponent (typeof(CharacterController)) as CharacterController;
 Object anim = GetComponent (typeof(AIAnimation));
 animator = anim != null ? anim as AIAnimation : null;
 seeker = GetComponent (typeof(Seeker)) as Seeker;

 StartCoroutine (Patrol());
 yield return new WaitForSeconds (Random.value*0.5F);

 if (continousTargetSearch) {
     StartCoroutine (SearchPlayer());
 }

 //here is the start array operations
 GetEnemies();    
 myPosition = transform.position;    
 target = FindClosest(enemies);
 distance=Vector3.Distance(target.position,transform.position);

 while (true) {
     FindPoint (curpoint);
     yield return new WaitForSeconds (SearchWaypointFrequency);
 }

}

private Vector3 waypointPosition; //private bool continuous = false; private Vector3[] points; private int curpoint = 0;

public void Update () { //Debug.color = Color.blue; Debug.DrawLine (transform.position, waypointPosition, Color.blue);

 //Stop();
 Start();
 /*GetEnemies();    
 myPosition = transform.position;    
 target = FindClosest(enemies);
 distance=Vector3.Distance(target.position,transform.position);*/

}

public IEnumerator SearchPlayer () { yield return 0; while (true) { yield return 0; while (!canSearchAgain) { yield return 0; } if (continousTargetSearch) { canSearchAgain = false; seeker.StartPath (transform.position,target.position); } yield return new WaitForSeconds (targetSearchFrequency); }

}

public void PathComplete (Vector3[] newPoints) { canSearchAgain = true; points = newPoints; FindPoint (0); command = Command.Walk; }

public void PathError () { canSearchAgain = true; }

public bool HasReachedTarget () { return curpoint >= points.Length; }

public void FindPoint (int cpoint) { curpoint = cpoint; if (points == null || points.Length == 0 || curpoint >= points.Length) {
waypointPosition = transform.position; Stop (); return; }

 if (points.Length == 1) {
     waypointPosition = points[0];
     command = Command.Walk;
     return;
 }

 command = Command.Walk;

 waypointPosition = points[curpoint];
 Vector3 p = waypointPosition;
 p.y = transform.position.y;

 if (curpoint < points.Length - 1) {
     if ((transform.position-p).sqrMagnitude < pickNextWaypointDistance*pickNextWaypointDistance) {
         curpoint++;
         FindPoint (curpoint);
     }

 } else {
     if ((transform.position-p).sqrMagnitude < maxStop*maxStop) {
         curpoint++;
         FindPoint (curpoint);
     }
 }

}

public IEnumerator Patrol () { while (true) { if (command == Command.Walk) { MoveTowards(waypointPosition); }

     yield return 0;
 }

}

public void Stop () { command = Command.Stay; if (animator != null) { animator.SetSpeed (0.0F); } }

public void RotateTowards (Vector3 position) { if (animator != null) { animator.SetSpeed (0.0F); }

 Vector3 direction = position - transform.position;
 direction.y = 0;

 if (curpoint == points.Length - 1 && direction.sqrMagnitude < maxStop*maxStop) {
     FindPoint (curpoint);
     return;
 }

 if (direction.sqrMagnitude < 0.1F*0.1F) {
     return;
 }

 // Rotate towards the target
 transform.rotation = Quaternion.Slerp (transform.rotation, Quaternion.LookRotation(direction), rotationSpeed * Time.deltaTime);
 transform.eulerAngles = new Vector3(0, transform.eulerAngles.y, 0);

}

public void MoveTowards (Vector3 position) { Vector3 direction = position - transform.position; direction.y = 0;

 if (direction.sqrMagnitude < 0.2F*0.2F) {
     Stop ();
     return;
 }

 // Rotate towards the target
 transform.rotation = Quaternion.Slerp (transform.rotation, Quaternion.LookRotation(direction), rotationSpeed * Time.deltaTime);
 transform.eulerAngles = new Vector3(0, transform.eulerAngles.y, 0);

 // Modify speed so we slow down when we are not facing the target
 Vector3 forward = transform.TransformDirection(Vector3.forward);
 float speedModifier = Vector3.Dot(forward, direction.normalized);
 speedModifier = Mathf.Clamp01(speedModifier);

 // Move the character
 if (controller) {
     direction = forward * speed * speedModifier*speedModifier;
     controller.SimpleMove(direction);
 } else {
     direction = forward * speed * speedModifier*speedModifier;
     transform.Translate (direction*Time.deltaTime,Space.World);
 }

 if (animator != null) {
     animator.SetSpeed (speed * speedModifier);
 }

}

public void GetEnemies(){ // Get enemies from the Scene

 GameObject[] enemyObjects = GameObject.FindGameObjectsWithTag("Target");

 Transform[]  enemies = new Transform[enemyObjects.Length];   

 for (int i = 0; i < enemyObjects.Length; i++) 
 {           
         enemies[i] = enemyObjects[i].transform;
     Debug.Log("GetEnemies() : count = " + i );
 }

 Debug.Log("GetEnemies() : enemy count = " + enemies.Length);

}

public Transform FindClosest(Transform[] targets) // Find Closest enemy { Debug.Log("FindClosest() : ---------------> " +targets.Length);

     GameObject[] enemyObjects = GameObject.FindGameObjectsWithTag("Target");

     float closestDistance = (enemies[0].position-myPosition).sqrMagnitude;  

     int targetNumber=0;

     for(int i=1; i<targets.Length ;i++)
     {

         float thisDisatance = (enemies[i].position-myPosition).sqrMagnitude;

             if(thisDisatance<closestDistance)
             {

                 closestDistance=thisDisatance;
                 targetNumber=i;

             }   
     }       

     return enemies[targetNumber];

 }