There is a groovy plugin for ANT that can invoke groovy scripts
<groovy src="helloWorld.groovy"/>
I would recommend combining it with ivy which can download the required jars for you, similar to the Maven example given previously.
build.xml
<project name="demo" default="run" xmlns:ivy="antlib:org.apache.ivy.ant">
<target name="resolve">
<ivy:resolve/>
<ivy:cachepath pathid="build.path"/>
</target>
<target name="run" depends="resolve">
<taskdef name="groovy" classname="org.codehaus.groovy.ant.Groovy" classpathref="build.path"/>
<groovy src="helloWorld.groovy"/>
</target>
</project>
ivy.xml
<ivy-module version="2.0">
<info organisation="org.myorg" module="demo"/>
<dependencies>
<dependency org="org.codehaus.groovy" name="groovy-all" rev="1.7.4" conf="default"/>
</dependencies>
</ivy-module>