// Initialize path
override protected void LocalStart()
{
// Setting state options
DynamicPointState.lo = lowLimitRRT;
DynamicPointState.hi = highLimitRRT;
DynamicPointState.maxAcc = maxAcceleration;
DynamicPointState.heuristic = heuristic;
DynamicPointState.hParam = hParam;
// Set states with zero initial velocity and run rrt
startState = new DynamicPointState(
startPos.x, startPos.y, Vector3.zero);
goalState = new DynamicPointState(
goalPos.x, goalPos.y, Vector3.zero);
DynamicPointState.goalState = goalState;
rrt = new RRT <DynamicPointState>(
startState,
goalState,
DynamicPointState.GenerateRandom,
polys,
iterations,
neighborhood
);
// Remove the last move in the list and replace it with breaking
DynamicPointMove last =
rrt.moves[rrt.moves.Count - 1] as DynamicPointMove;
Vector3 lastVel = last.velocity;
float lastTime = lastVel.magnitude / maxAcceleration;
Move lastMove = new DynamicPointMove(lastVel,
-lastVel.normalized * maxAcceleration, lastTime);
moves = new Stack <Move>(
Enumerable.Concat(
new Move[] { lastMove },
Enumerable.Reverse(rrt.moves).Skip(1)
)
);
// Set times
cost = rrt.cost + lastTime - last.t;
rrtTime = rrt.runTime;
Debug.Log("Time: " + cost + " RRT: " + rrtTime);
}
// 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);
}
