public void run()
{
var graph = new Graph2(mesh);
var source = graph.Quantize(kinematic.position);
var dest = graph.Quantize(transform.position);
var path = graph.FindPath(source, dest).Select(n => n.position).ToList();
ILocation target;
// Path is short, go straight
if (path.Count <= 2)
{
target = new Location(transform.position);
// Go to first segment of path
}
else
{
target = new Location(path[1]);
}
var arrive = Dynamic.Arrive(kinematic, steering, target, arriveOptions);
var face = Dynamic.Face(kinematic, steering, new Location(transform.position), alignOptions);
steering = arrive.Combine(face);
kinematic.UpdateKinematic(steering);
}
public void run()
{
var arrive = Dynamic.Arrive(source, sourceSteering, target, arriveOptions);
var face = Dynamic.Face(source, sourceSteering, target, alignOptions);
sourceSteering = arrive.Combine(face);
source.UpdateKinematic(sourceSteering);
}