// Use this for initialization
void Start()
{
map = new PolyMapLoaderT3("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button", "polygMap1/customerPos");
mapData = map.polyData;
R = 5;
agents = new List <PolyAgent> ();
for (int i = 0; i < mapData.start.Count; i++)
{
Vector3 start = mapData.start[i];
Vector3 end = mapData.end[i];
agents.Add(new PolyAgent("Agent " + i, start, end, R, "point"));
agents [i].agent.renderer.material.color = Color.blue;
agents[i].model = gameObject.AddComponent <DynamicPointModel> ();
}
vrp = new VRPPL(mapData.customers, agents.Count);
foreach (PolyAgent agent in agents)
{
List <Vector3> path = new List <Vector3> ();
path.Add(agent.end);
agent.model.SetPath(path, agent, mapData.lines);
agent.model.StartCoroutineMove();
}
}
void OnDrawGizmos()
{
map = new PolyMapLoaderT3("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button", "polygMap1/customerPos");
if (map.polyData.nodes != null)
{
foreach (Vector3 node in map.polyData.nodes)
{
Gizmos.color = Color.blue;
Gizmos.DrawCube(node, Vector3.one);
}
foreach (Line line in map.polyData.lines)
{
Gizmos.color = Color.black;
Gizmos.DrawLine(line.point1, line.point2);
}
}
Gizmos.color = Color.green;
foreach (Vector3 v in map.polyData.start)
{
Gizmos.DrawCube(v, new Vector3(3, 1, 3));
}
Gizmos.color = Color.red;
foreach (Vector3 v in map.polyData.end)
{
Gizmos.DrawCube(v, new Vector3(3, 1, 3));
}
Gizmos.color = Color.blue;
foreach (Vector3 v in map.polyData.customers)
{
Gizmos.DrawCube(v, new Vector3(3, 1, 3));
}
if (agents != null)
{
Gizmos.color = Color.magenta;
foreach (PolyAgent pagent in agents)
{
Gizmos.DrawSphere(pagent.agent.transform.position, R);
}
}
}
void Start()
{
map = new PolyMapLoaderT3("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button", "polygMap1/customerPos");
polyData = map.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
// START VRP
R = 3;
agents = new List <PolyAgent> ();
for (int i = 0; i < polyData.start.Count; i++)
{
Vector3 start = polyData.start[i];
Vector3 end = polyData.end[i];
agents.Add(new PolyAgent("Agent " + i, start, end, R, "car"));
agents [i].agent.renderer.material.color = Color.black;
agents[i].model = gameObject.AddComponent <DynamicCarModel> ();
//agents[i].model = gameObject.AddComponent<DynamicPointModel> ();
}
List <Vector3> customers = new List <Vector3> (); // for plotting
foreach (Vector3 v in polyData.customers)
{
customers.Add(v);
}
vrp = new VRPPL(customers, agents.Count);
// END VRP
CreateObstacles();
ConstructWalkableLines();
CreateInterObstacleWalk();
// print ("Walkable lines: " + walkableLines.Count);
// graph.PrintGraph ();
stopwatch.Start();
ready = new List <PolyAgent> ();
}
void Start()
{
map = new PolyMapLoaderT3("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button", "polygMap1/customerPos");
polyData = map.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
// START VRP
R = 3;
CreateObstacles();
ConstructWalkableLines();
CreateInterObstacleWalk();
agents = new List <T5PolyAgent> ();
for (int i = 0; i < polyData.start.Count; i++)
{
Vector3 start = polyData.start[i];
Vector3 end = polyData.end[i];
agents.Add(new T5PolyAgent("Agent " + i, start, end, R, "car"));
agents [i].agent.renderer.material.color = Color.black;
agents[i].model = gameObject.AddComponent <T5DynCar> ();
List <PolyNode> ppath = pathFinder.AStarSearch(start, end, graph);
List <Vector3> path = new List <Vector3> ();
foreach (PolyNode node in ppath)
{
path.Add(node.pos);
}
agents[i].model.SetPath(path, agents[i], new List <Line> ());
}
foreach (T5PolyAgent agent in agents)
{
agent.model.SetAgents(ref agents);
agent.model.StartCoroutineMove();
}
stopwatch.Start();
ready = new List <T5PolyAgent> ();
}
