public void StopChildren()
{
Queue <LeaderFollower> Q = new Queue <LeaderFollower> ();
LeaderFollower v = this;
Q.Enqueue(v);
Dictionary <PolyAgent, bool> visited = new Dictionary <PolyAgent, bool> ();
visited [v.agent] = true;
while (Q.Count > 0)
{
v = Q.Dequeue();
foreach (LeaderFollower child in v.children)
{
if (!child.empty)
{
if (child.agent != null)
{
if (!visited.ContainsKey(child.agent) || !visited[child.agent])
{
Q.Enqueue(child);
visited[child.agent] = true;
child.agent.model.StopCoroutineMove();
}
}
}
}
}
}
public LeaderFollower(string agentId, Vector3 agentPos,
LeaderFollower parent, List <Vector3> wp = null)
{
agent = new PolyAgent(agentId, agentPos, Vector3.zero, 5, modelType);
agent.agent.renderer.material.color = Color.black;
leaderWP = wp;
children = new List <LeaderFollower>();
children.Add(new LeaderFollower());
children.Add(new LeaderFollower());
this.parent = parent;
}
public void MoveChildren()
{
Queue <LeaderFollower> Q = new Queue <LeaderFollower> ();
LeaderFollower v = this;
Q.Enqueue(v);
Dictionary <PolyAgent, bool> visited = new Dictionary <PolyAgent, bool> ();
visited [v.agent] = true;
while (Q.Count > 0)
{
v = Q.Dequeue();
int i = 0;
Vector3 parentPos = v.agent.agent.transform.position;
foreach (LeaderFollower child in v.children)
{
if (!child.empty)
{
if (child.agent != null)
{
if (!visited.ContainsKey(child.agent) || !visited[child.agent])
{
Q.Enqueue(child);
visited[child.agent] = true;
Vector3 dir = v.agent.agent.transform.forward;
parentPos = parentPos - dir * dist / 2;
List <Vector3> path = new List <Vector3> ();
Vector3 left = Vector3.Cross(dir, Vector3.up);
if (i == 0)
{
path.Add(parentPos + left * dist);
}
else if (i == 1)
{
Vector3 right = -left;
path.Add(parentPos + right * dist);
}
debugwp.Add(path[0]);
child.agent.model.SetPath(path, child.agent, child.obstacles);
child.agent.model.StartCoroutineMove();
child.agent.agent.renderer.material.color = Color.yellow;
}
}
}
i++;
}
}
}
IEnumerator MoveCoroutine(LeaderFollower leader)
{
while (true)
{
leader.MoveChildren();
yield return(new WaitForSeconds(1));
leader.StopChildren();
debugwp.Clear();
if (Vector3.Distance(leader.agent.agent.transform.position, leader.leaderWP[leader.leaderWP.Count - 1]) < 4)
{
leader.MoveLeader();
}
}
}
public void CreateChildren(List <Model> model)
{
int index = 0;
Queue <LeaderFollower> Q = new Queue <LeaderFollower> ();
LeaderFollower v = this;
Q.Enqueue(v);
while (Q.Count > 0)
{
v = Q.Dequeue();
Vector3 parentPos = v.agent.agent.transform.position;
for (int i = 0; i < v.children.Count; i++)
{
if (!v.doubleChild && i == 1)
{
break;
}
if (v.children[i] == null)
{
if (totChildren > 0)
{
Vector3 startPos = Vector3.zero;
v.children[i] = new LeaderFollower("child " + numChildren++, startPos, v);
v.children[i].SetModel(model[index++]);
v.children[i].empty = false;
if (i == 1)
{
v.children[i].doubleChild = true;
}
totChildren--;
Q.Enqueue(v.children[i]);
}
}
}
}
}
void Start()
{
List <Vector3> start = new List <Vector3> ();
start.Add(new Vector3(100, 1, 100));
start.Add(new Vector3(200, 1, 100));
start.Add(Vector3.zero);
start.Add(new Vector3(0, 1, -100));
List <Model> models = new List <Model> ();
for (int i = 0; i < totChildren; i++)
{
if (modelType == "car")
{
if (moveType == "dynamic")
{
models.Add(gameObject.AddComponent <DynamicCarModel> ());
}
if (moveType == "kinematic")
{
models.Add(gameObject.AddComponent <KinematicCarModel> ());
}
}
if (modelType == "point")
{
if (moveType == "dynamic")
{
models.Add(gameObject.AddComponent <DynamicPointModel> ());
}
if (moveType == "kinematic")
{
models.Add(gameObject.AddComponent <KinematicPointModel> ());
}
if (moveType == "differential")
{
models.Add(gameObject.AddComponent <DifferentialDriveModel> ());
}
}
}
LeaderFollower leader = new LeaderFollower("leader", Vector3.zero, null, start);
leader.doubleChild = true;
leader.CreateChildren(models);
if (modelType == "car")
{
if (moveType == "dynamic")
{
leader.SetModel(gameObject.AddComponent <DynamicCarModel> ());
}
if (moveType == "kinematic")
{
leader.SetModel(gameObject.AddComponent <KinematicCarModel> ());
}
}
if (modelType == "point")
{
if (moveType == "dynamic")
{
leader.SetModel(gameObject.AddComponent <DynamicPointModel> ());
}
if (moveType == "kinematic")
{
leader.SetModel(gameObject.AddComponent <KinematicPointModel> ());
}
if (moveType == "differential")
{
leader.SetModel(gameObject.AddComponent <DifferentialDriveModel> ());
}
}
leader.MoveLeader();
StartCoroutine(MoveCoroutine(leader));
}
