private void CreateCornerWaypoints(WaypointObstacle obstacle)
{
//create waypoints at corners of obstacles
for (int j = 0; j < vertices.Length; j++)
{
Vector3 globalPoint = obstacle.transform.localToWorldMatrix.MultiplyPoint3x4(vertices[j]); //get point of vertex in global position
float dist = Mathf.Sqrt(3 * Mathf.Pow(marginedRadius, 2));
Vector3 globalPosition = globalPoint + directions[j].normalized * dist; //and calculate location of waypoint in global position
Vector3 localPosition = obstacle.transform.worldToLocalMatrix.MultiplyPoint3x4(globalPosition); //then transform back to local position
currentWaypointsList.Add(WaypointObject.Create(waypointPrefab, obstacle.transform, localPosition, vertices[j])); //add waypoint to list
}
}
private void CreateInbetweenWaypoints(WaypointObstacle obstacle)
{
List <Waypoint> corners = new List <Waypoint>(currentWaypointsList);
foreach (Waypoint startWP in corners) //
{
foreach (Waypoint neighbour in startWP.neighbouringCorner) // for every neighbour of the start waypoint
{
if (!startWP.checkedBy.Contains(neighbour)) //check if this connection has already been checked the other way around
{
edges.Add(new List <Waypoint>()); //create a new edge
List <Waypoint> currentEdge = edges.Last();
currentEdge.Add(startWP); //add start point to edge
float distance = Vector3.Distance(startWP.globalPosition, neighbour.globalPosition);
if (distance > obstacle.maxWaypointDistance) // and distance is big enough
{
int extraCount = Mathf.CeilToInt(distance / obstacle.maxWaypointDistance);
float stepDistance = distance / extraCount;
Vector3 direction = (neighbour.globalPosition - startWP.globalPosition).normalized;
for (int i = 0; i < extraCount - 1; i++)
{
Vector3 globalPosition = startWP.globalPosition + (stepDistance * (i + 1)) * direction;
Vector3 localPosition = obstacle.transform.worldToLocalMatrix.MultiplyPoint3x4(globalPosition); // transform back to local position
Vector3 vertexPosition = startWP.localPosition + direction * (Vector3.Distance(startWP.localPosition, neighbour.localPosition) / extraCount);
currentWaypointsList.Add(WaypointObject.Create(waypointPrefab, obstacle.transform, localPosition, vertexPosition)); //add waypoint to list
currentEdge.Add(currentWaypointsList.Last()); //and add to list of edges
}
}
neighbour.checkedBy.Add(startWP);
currentEdge.Add(neighbour); //add end point to edge
}
}
}
}