//Copy data from car to this car
public RSCar(RSCar car)
{
this.pos = car.pos;
this.heading = car.heading;
this.gear = car.gear;
this.steering = car.steering;
}
//Time-flip transform method from the report, which interchanges + and -
//l+ r- s- l- -> l- r+ s+ l+
private static List <SegmentSettings> TimeFlip(List <SegmentSettings> pathSettings)
{
foreach (SegmentSettings settings in pathSettings)
{
//Set it to forward
RSCar.Gear flippedGear = RSCar.Gear.Forward;
//If the current setting is forward, then flip
if (settings.gear == RSCar.Gear.Forward)
{
flippedGear = RSCar.Gear.Back;
}
settings.gear = flippedGear;
}
return(pathSettings);
}
//Display the Reed Shepp path with line renderers
private void DisplayPath(List <RSCar> shortestPath)
{
List <Vector3> nodes = new List <Vector3>();
//A path needs between 1 and 3 line renderers
int lineArrayPos = 0;
RSCar.Gear currentGear = shortestPath[0].gear;
for (int i = 0; i < shortestPath.Count; i++)
{
nodes.Add(shortestPath[i].pos);
//This means we have finished this segment of the path and should make a line renderer
if (shortestPath[i].gear != currentGear)
{
bool isReversing = shortestPath[i - 1].gear == RSCar.Gear.Back ? true : false;
AddPositionsToLineRenderer(nodes, lineArray[lineArrayPos], isReversing);
//Restart with the next line
lineArrayPos += 1;
nodes.Clear();
currentGear = shortestPath[i].gear;
//So the lines connect
nodes.Add(shortestPath[i].pos);
}
}
//The last segment of the line
bool isReversingLast = shortestPath[shortestPath.Count - 1].gear == RSCar.Gear.Back ? true : false;
AddPositionsToLineRenderer(nodes, lineArray[lineArrayPos], isReversingLast);
}
public SegmentSettings(RSCar.Steering steering, RSCar.Gear gear, float length)
{
this.steering = steering;
this.gear = gear;
this.length = length;
}
public RSCar(Vector3 pos, float headingInRadians, Gear gear, Steering steering) : this(pos, headingInRadians)
{
this.gear = gear;
this.steering = steering;
}
