public void MoveStartShortestRoute(Transform _transform, string startKey, string goalKey)
{
_targetTransForm = _transform;
NodeMapUtility.CostDict keyValuePairs;
LinkedList <string> route;
NodeMapUtility.GetShortestRoute(_nodeMap, startKey, goalKey, 10000, out keyValuePairs, out route);
Debug.Log(string.Format("道を探します : start : {0} {1}", startKey, goalKey));
if (route == null)
{
Debug.Log("道が遠すぎたため停止します");
currentRoute = null;
return;
}
}
/// <summary>
/// 指定された点にもっとも近いノードを取得する
/// </summary>
/// <returns>The locate.</returns>
/// <param name="selectPos">Select position.</param>
/// <param name="groupIndex">Group index.</param>
public string Locate(Vector3 selectPos, string groupIndex = null)
{
NodeMapUtility.GroupDict group;
float distance = -1f;
string key = null;
if (string.IsNullOrEmpty(groupIndex))
{
foreach (var p in nodeMap.nodeLonLatData.Keys)
{
Vector3 sub = nodeMap[p].Position - selectPos;
float d = sub.x * sub.x + sub.y * sub.y + sub.z * sub.z;
if (distance < 0f || distance > d)
{
distance = d;
key = p;
}
}
}
else
{
NodeMapUtility.Group(nodeMap, out group);
int y = group[groupIndex];
foreach (var p in group)
{
if (p.Value == y)
{
Vector3 sub = nodeMap[p.Key].Position - selectPos;
float d = sub.x * sub.x + sub.y * sub.y + sub.z * sub.z;
if (distance < 0f || distance > d)
{
distance = d;
key = p.Key;
}
}
}
}
Debug.Assert(distance >= 0f);
return(key);
}
/// <summary>
/// 道の情報を NodeMap に変換する.
/// </summary>
/// <param name="roadDataModels">Road data models.</param>
/// <param name="worldCenter">World center.</param>
/// <param name="worldScale">World scale.</param>
/// <param name="key">AROWMAPから抽出するTAG.</param>
public void Initialize(List <RoadDataModel> roadDataModels, Vector2Int worldCenter, Vector2 worldScale, OSMDefine.CREATE_WAY key)
{
_nodeMap = NodeMapUtility.CreateNodeMap(roadDataModels, worldCenter, worldScale, key);
}
