/*private void OnMouseDown()
* {
* startPositionVector3 = Input.mousePosition;
* startPositionVector3Int = Vector3Int.FloorToInt(startPositionVector3);
* }*/
/* private void OnMouseUp()
* {
* dropPositionVector3 = Input.mousePosition;
* dropPositionVector3Int = Vector3Int.FloorToInt(dropPositionVector3);
* }*/
private void OnMouseDrag()
{
try
{
startPositionVector3 = Input.mousePosition;
currentPositionVector3 = transform.position;
var startGridPos = gridMap.WorldToCell(currentPositionVector3);
var worldPos = Camera.main.ScreenToWorldPoint(startPositionVector3);
var gridPos = gridMap.WorldToCell(worldPos);
Debug.Log("Current Mouse on Grid " + gridPos);
Debug.Log("Ghost start Point " + startGridPos);
var pathAsString = "";
var path = _pathCalculator.CalculatePath(startGridPos, gridPos);
foreach (var step in path)
{
pathAsString += step.ToString();
}
ghost.SetMovementPath(path);
Debug.Log(ghost.movementPath.ToString());
}
catch (Exception ignore)
{
// nothing to do
}
}
/// <summary>
/// Check if the destination can be reached
/// </summary>
/// <param name="_position">destination to reach</param>
/// <returns>if the destination can be reached</returns>
public bool CheckDestination(Vector3 _position)
{
if (CustomNavMeshManager.Triangles == null || CustomNavMeshManager.Triangles.Count == 0)
{
Debug.LogWarning("Triangles Not found. Must build the navmesh for the scene");
return(false);
}
if (isMoving)
{
StopAllCoroutines();
}
pathState = CalculatingState.Calculating;
bool _canBeReached = PathCalculator.CalculatePath(OffsetPosition, _position, currentPath, CustomNavMeshManager.Triangles);
if (_canBeReached)
{
pathState = CalculatingState.Ready;
StopAllCoroutines();
StartCoroutine(FollowPath());
}
else
{
pathState = CalculatingState.Waiting;
}
return(_canBeReached);
}
private IEnumerator PathRefreshCoroutine()
{
while (true)
{
// Calculate path for new sets of points and pass it to path segment getter
pathSegmentGetter.SetPath(pathCalculator.CalculatePath(lastPrintedPoint, GetMouseWorldPosition()));
// Wait for time dependant on cursor velocity to ensure proper distance between control points.
yield return(new WaitForSeconds(basePathRefreshTime / velocity));
}
}
// this method uses the PathCalculator class to calculate the shortest path between 2 points and saves the path into a list
// the put that list in the agv object
private async void ShortestPathAsync(int x, int y)
{
while (wh.AGVList[0].PointList.Count != 0)
{
await Task.Delay(3000);
}
Point point1 = new Point(wh.AGVList[0].PositionX, wh.AGVList[0].PositionY);
Point point2 = new Point(x, y);
PathCalculator path = new PathCalculator(point1, point2);
path.CalculatePath();
wh.AGVList[0].PointList = path.GetPointList();
}
/// <summary>
/// Calculate a path until reaching a destination
/// </summary>
/// <param name="_position">destination to reach</param>
public void SetDestination(Vector3 _position)
{
if (CustomNavMeshManager.Triangles == null || CustomNavMeshManager.Triangles.Count == 0)
{
Debug.LogWarning("Triangles Not found. Must build the navmesh for the scene");
//Destroy(this);
return;
}
if (isMoving)
{
StopAllCoroutines();
}
pathState = CalculatingState.Calculating;
if (PathCalculator.CalculatePath(OffsetPosition, _position, currentPath, CustomNavMeshManager.Triangles))
{
pathState = CalculatingState.Ready;
StartCoroutine(FollowPath());
}
}