// <summary>
// Performs path planning for the next path segment by utilizing a DynamicPathThreadJob
// that calculates the path in the background
// </summary>
public void PathPlanNextSegment()
{
bool noItem = (GetComponent <PowerUp>().powerUp == "");
//Check if the next path segment needs to be calculated in a thread
if (jobInProgress == false && nextWayPoints == null && dynamicReplan == false)
{
//trigger thread job for this car to obtain the next set of waypoints
Node pathStartNode;
if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode)
{
pathStartNode = startNode;
}
else
{
pathStartNode = currentThreadJob.destinationNode;
}
currentThreadJob = new DynamicPathThreadJob(pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 12.0f, noItem);
currentThreadJob.Start();
jobInProgress = true;
}
else if (jobInProgress == false && dynamicReplan)
{
Node pathStartNode;
if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode)
{
pathStartNode = startNode;
}
else
{
pathStartNode = PathPlanningDataStructures.graph.getClosestNode(transform.position + 3 * transform.forward);
}
currentThreadJob = new DynamicPathThreadJob(pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 5.0f, noItem);
currentThreadJob.Start();
jobInProgress = true;
}
//Check if in progress thread has completed the path calculation
if (jobInProgress)
{
if (currentThreadJob.isFinished())
{
if (dynamicReplan)
{
dynamicWayPoints = currentThreadJob.getPathWayPoints();
nextWayPoints = null;
}
else
{
nextWayPoints = currentThreadJob.getPathWayPoints();
dynamicWayPoints = null;
}
closedNodes = currentThreadJob.getClosedNodes();
jobInProgress = false;
}
}
}
// <summary>
// Performs path planning for the first path segment by utilizing a DynamicPathThreadJob
// and waiting for it to complete
// </summary>
public void PathPlanInitialSegment()
{
//first triggered thread job for this car
startNode = PathPlanningDataStructures.graph.getClosestNode (transform.position);
currentThreadJob = new DynamicPathThreadJob (startNode, PathPlanningDataStructures.graph.endNode, closedNodes, 15.0f, true);
currentThreadJob.Start();
currentThreadJob.Join();
currentWayPoints = currentThreadJob.getPathWayPoints();
usesWaypoints = new bool[currentWayPoints.Count];
for (int i = 0; i < usesWaypoints.Length; i++) {
usesWaypoints [i] = true;
}
closedNodes = currentThreadJob.getClosedNodes ();
//indicate that next path segment needs to calculated
jobInProgress = false;
dynamicReplan = false;
}
// <summary>
// Performs path planning for the first path segment by utilizing a DynamicPathThreadJob
// and waiting for it to complete
// </summary>
public void PathPlanInitialSegment()
{
//first triggered thread job for this car
startNode = PathPlanningDataStructures.graph.getClosestNode(transform.position);
currentThreadJob = new DynamicPathThreadJob(startNode, PathPlanningDataStructures.graph.endNode, closedNodes, 15.0f, true);
currentThreadJob.Start();
currentThreadJob.Join();
currentWayPoints = currentThreadJob.getPathWayPoints();
usesWaypoints = new bool[currentWayPoints.Count];
for (int i = 0; i < usesWaypoints.Length; i++)
{
usesWaypoints [i] = true;
}
closedNodes = currentThreadJob.getClosedNodes();
//indicate that next path segment needs to calculated
jobInProgress = false;
dynamicReplan = false;
}
