//float toRad = Mathf.PI/180;
// Computes radius of the moving circle and center offset
public DynamicCarMove(Vector3 velocity, float speed, float acceleration,
float phi, float r, DynamicCarState newState, float t) : base(t)
{
this.velocity = velocity.normalized;
this.speed = speed;
this.acceleration = acceleration;
this.r = r;
this.turn = (int)Mathf.Sign(phi);
this.omega = turn * (speed / r) * toDeg;
this.newState = newState;
//Debug.Log("created");
// Setting centerOff
//if (turn != 0) {
// Vector3 normal = Quaternion.Euler(0, Mathf.Sign(turn)*90, 0) * velocity;
// this.centerOff = normal.normalized * r;
//}
}
// Initializes and runs rrt
override protected void LocalStart()
{
// Setting state options
DynamicCarState.maxAcc = maxAcc;
DynamicCarState.maxPhi = maxPhi;
DynamicCarState.L = L;
DynamicCarState.r = L / Mathf.Tan(maxPhi * Mathf.PI / 180);
DynamicCarState.lo = lowLimitRRT;
DynamicCarState.hi = highLimitRRT;
DynamicCarState.timeStep = time;
// Set scale and rotate to right
transform.localScale = new Vector3(1, 1, L);
transform.rotation = Quaternion.Euler(0, 90, 0);
// Create states, rotation is right
startState = new DynamicCarState(startPos.x, startPos.y, Vector3.right, 0);
goalState = new DynamicCarState(goalPos.x, goalPos.y, Vector3.right, 0);
// Run rrt
rrt = new RRT <DynamicCarState>(
startState,
goalState,
DynamicCarState.GenerateRandom,
polys,
iterations,
neighborhood
);
// Remove the last move in the list and replace it with breaking
DynamicCarMove last =
rrt.moves[rrt.moves.Count - 1] as DynamicCarMove;
Vector3 lastVel = last.velocity;
float lastTime = last.speed / maxAcc;
Move lastMove = new DynamicPointMove(lastVel * last.speed,
-lastVel.normalized * maxAcc, lastTime);
moves = new Stack <Move>(
Enumerable.Concat(
new Move[] { lastMove },
Enumerable.Reverse(rrt.moves).Skip(1)
)
);
// Set moves and other data needed for base
cost = rrt.cost + lastTime - last.t;
rrtTime = rrt.runTime;
Debug.Log("Time: " + cost + " RRT: " + rrtTime);
// This part generates points for realistic path
GameObject tmp = new GameObject();
Transform tr = tmp.transform;
tr.position = transform.position;
tr.rotation = transform.rotation;
List <Move> tmpMoves = new List <Move>();
foreach (Move m in rrt.moves)
{
tmpMoves.Add(m.Copy());
}
foreach (Move m in tmpMoves)
{
while (m.t > 0)
{
m.MoveMe(tr, 0.1f);
poss.Add(tr.position);
}
}
Destroy(tmp);
}
