private void RRT()
{
if (tree.getCount() > numPoints)
{
calculating = false;
return;
}
ArrayList carPath = freePath(tree.last.point, destination, tree.last.forward);
if (carPath.Count > 0)
{
Debug.DrawLine(tree.last.point, destination, Color.blue, timeDebug, false);
rrtNode d = new rrtNode(destination, tree.last);
//tree.last.addConnection (d);
d.forward = ((Vector3)carPath[carPath.Count - 1] - (Vector3)carPath[carPath.Count - 2]).normalized;
tree.addNode(d);
calculating = false;
//path = rrTree.optimizePath(tree.getPath());
path = tree.getCarPath();
printPath(path);
}
else
{
addRandomNode(tree, dim);
}
}
private void RRT()
{
if (tree.getCount() > numPoints)
{
calculating = false;
return;
}
if (freePath(tree.last.point, destination))
{
Debug.DrawLine(tree.last.point, destination, Color.blue, timeDebug, false);
rrtNode d = new rrtNode(destination, tree.last);
tree.last.addConnection(d);
tree.addNode(d);
calculating = false;
path = rrTree.optimizePath(tree.getPath());
printPath(path);
}
else
{
addRandomNode(tree, dim);
}
}
