private void addFixedPoint(Vector3 newPoint)
{
draw.drawLine(newPoint, new Vector3(newPoint.x + 1, newPoint.y, newPoint.z + 1), Color.green);
rrtNode point = tree.findClosestNode(newPoint);
ArrayList dubinWay = freeCarPath(point.point, point.forward, newPoint);
if (point != null && dubinWay.Count > 0)
{
//if it is possible to reach the point from the previous point
//add the connection
rrtNode p2 = new rrtNode(newPoint, point);
p2.forward = ((Vector3)dubinWay[dubinWay.Count - 1] - (Vector3)dubinWay[dubinWay.Count - 2]).normalized;
dubinWay.Reverse();
p2.connection = dubinWay;
tree.addNode(p2);
draw.drawMultipleLines(p2.connection, Color.magenta);
}
}
private bool addRandomNode(rrDubinTree tree, int dim)
{
Vector3 newPoint = new Vector3(myRnd(dim), y, myRnd(dim));
createPoint(newPoint);
rrtNode point = tree.findClosestNode(newPoint);
ArrayList dubinConn = freePath(point.point, newPoint);
if (point != null && dubinConn.Count > 0)
{
//if it is possible to reach the point from the previous point
//add the connection
rrtNode p2 = new rrtNode(newPoint, point);
//p2.connection = dubinConn;
tree.addNode(p2);
//myDrawLine (point.point, newPoint, Color.blue);
return(true);
}
return(true);
}
private bool addRandomNode(rrDubinTree tree, int dimX, int dimZ)
{
Vector3 newPoint = new Vector3(myRnd(dimX), mainY, myRnd(dimZ));
draw.drawLine(newPoint, new Vector3(newPoint.x + 1, newPoint.y, newPoint.z + 1), Color.green);
rrtNode point = tree.findClosestNode(newPoint);
ArrayList dubinWay = freeCarPath(point.point, point.forward, newPoint);
if (point != null && dubinWay.Count > 0)
{
//if it is possible to reach the point from the previous point
//add the connection
rrtNode p2 = new rrtNode(newPoint, point);
p2.forward = ((Vector3)dubinWay[dubinWay.Count - 1] - (Vector3)dubinWay[dubinWay.Count - 2]).normalized;
//conn.Reverse();
p2.connection = dubinWay;
tree.addNode(p2);
draw.drawMultipleLines(p2.connection, Color.magenta);
return(true);
}
return(true);
}
