private void GetWaypointsForCurrentRack()
{
List <Vector3> best = new List <Vector3>();
for (int i = 0; i < nStepsInWPPlanning; i++)
{
List <BoxCollider> boxes = spawnBoxes[currentRack].ToList();
List <Vector3> current = new List <Vector3> (boxes.Count / 4);
while (boxes.Count > 0)
{
int rnd = Random.Range(0, boxes.Count);
Vector3 point = WeaponRack.GetRandomPointInBox(boxes[rnd]);
current.Add(point);
boxes.RemoveAt(rnd);
int k = 0;
while (k < boxes.Count)
{
if (FullyVisible(boxes[k], point))
{
boxes.RemoveAt(k);
}
else
{
k++;
}
}
}
if (best.Count == 0 || current.Count < best.Count)
{
best = current;
}
}
best.Insert(0, transform.position);
waypoints = SolveTSP(best);
waypoints.RemoveAt(0);
}
private void ChangeState(int newState)
{
// Things to always do when exiting a state
switch (state)
{
case APPROACHING_RACK:
currentBox = 0;
break;
}
// Things to always do when entering a state
switch (newState)
{
case EXPLORING:
exploreWP = WeaponRack.GetRandomPointInBox(spawnBoxes[currentRack][currentBox]);
break;
case ROTATING:
timeOfRotateStart = Time.time;
break;
}
state = newState;
}
private void Start()
{
wr = this.GetComponent <WeaponRack>();
}
