void Update()
{
if (state != State.CalculatePath2 && state != State.ShowPath && state != State.None)
{
if (calculatePathCoroutine != null)
{
StopCoroutine(calculatePathCoroutine);
calculatePathCoroutine = null;
}
}
switch (state)
{
case State.CalculatePath:
groundGrid.HidePath();
outPath.Clear();
finishedCalculatingPath = false;
state = State.CalculatePath2;
break;
case State.CalculatePath2:
if (useRRT)
{
if (calculatePathCoroutine == null)
{
calculatePathCoroutine = PathPlanner.RRT(groundGrid.GetStartNodeIndex(), groundGrid.GetEndNodeIndex(), groundGrid, actor, outPath);
StartCoroutine(calculatePathCoroutine);
}
state = State.ShowPath;
}
else
{
if (calculatePathCoroutine == null)
{
calculatePathCoroutine = PathPlanner.A_Star(groundGrid.GetStartNodeIndex(), groundGrid.GetEndNodeIndex(), groundGrid, outPath);
StartCoroutine(calculatePathCoroutine);
}
state = State.ShowPath;
}
break;
case State.ShowPath:
if (outPath.Count > 0)
{
finishedCalculatingPath = true;
actor.transform.position = groundGrid.GetNodePosition(outPath.ElementAt(0));
actor.waypoints.Clear();
foreach (int item in outPath)
{
actor.waypoints.Add(new Actor.Waypoint(groundGrid.GetNodePosition(item), Quaternion.Euler(0, 0, 0)));
}
state = State.None;
}
else if (finishedCalculatingPath)
{
finishedCalculatingPath = false;
state = State.None;
}
break;
case State.RegenerateObstacles:
groundGrid.ResetPath();
state = State.RegenerateObstacles2;
break;
case State.RegenerateObstacles2:
obstacleManager.ResetObstacles();
state = State.RegenerateObstacles3;
break;
case State.CreateObstacles:
case State.RegenerateObstacles3:
obstacleManager.CreateObstacles();
state = State.CalculateObstacleCollisions;
break;
case State.RegenerateGrid:
groundGrid.CreateGrid((int)ResolutionSlider.value, (int)ResolutionSlider.value);
state = State.CalculateObstacleCollisions;
break;
case State.CalculateObstacleCollisions:
groundGrid.UpdateObstacleCollisions(useZones);
state = State.None;
break;
case State.None:
LoadingText.SetActive(false);
break;
default:
LoadingText.SetActive(false);
break;
}
if (Input.GetKeyDown(KeyCode.Escape))
{
Application.Quit();
}
else if (Input.GetKeyDown(KeyCode.R))
{
actor.transform.position = new Vector3(10000, 0, 0);
actor.waypoints.Clear();
state = State.RegenerateObstacles;
LoadingText.SetActive(true);
}
else if (Input.GetMouseButtonDown(0))
{
if (Input.GetKey(KeyCode.LeftAlt) || Input.GetKey(KeyCode.RightAlt))
{
//Create obstacle
RaycastHit hit;
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
if (Physics.Raycast(ray, out hit, Mathf.Infinity, 1 << LayerMask.NameToLayer("Node")))
{
groundGrid.ResetPath();
obstacleManager.CreateObstacle(hit.point);
actor.transform.position = new Vector3(10000, 0, 0);
actor.waypoints.Clear();
state = State.CalculateObstacleCollisions;
LoadingText.SetActive(true);
}
}
else
{
state = State.None;
//Set start node
RaycastHit hit;
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
if (Physics.Raycast(ray, out hit, Mathf.Infinity, 1 << LayerMask.NameToLayer("Node")))
{
Node collidedNode = hit.collider.GetComponent <Node>();
if (!collidedNode.IsOccupied() && collidedNode != groundGrid.startNode && collidedNode != groundGrid.endNode)
{
groundGrid.StartSprite.transform.position = new Vector3(collidedNode.transform.position.x, groundGrid.StartSprite.transform.position.y, collidedNode.transform.position.z);
groundGrid.startNode = collidedNode;
actor.transform.position = new Vector3(10000, 0, 0);
actor.waypoints.Clear();
if (groundGrid.startNode != null && groundGrid.endNode != null)
{
actor.transform.position = groundGrid.StartSprite.transform.position;
state = State.CalculatePath;
LoadingText.SetActive(true);
}
}
}
}
}
else if (Input.GetMouseButtonDown(1))
{
state = State.None;
//Set end node
RaycastHit hit;
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
if (Physics.Raycast(ray, out hit, Mathf.Infinity, 1 << LayerMask.NameToLayer("Node")))
{
Node collidedNode = hit.collider.GetComponent <Node>();
if (!collidedNode.IsOccupied() && collidedNode != groundGrid.startNode && collidedNode != groundGrid.endNode)
{
groundGrid.EndSprite.transform.position = new Vector3(collidedNode.transform.position.x, groundGrid.EndSprite.transform.position.y, collidedNode.transform.position.z);
groundGrid.endNode = collidedNode;
actor.transform.position = new Vector3(10000, 0, 0);
actor.waypoints.Clear();
if (groundGrid.startNode != null && groundGrid.endNode != null)
{
actor.transform.position = groundGrid.StartSprite.transform.position;
state = State.CalculatePath;
LoadingText.SetActive(true);
}
}
}
}
}
