//Determines the intial path segment for the car
private void InitialPathPlan()
{
//first triggered thread job for this car
startNode = PathPlanningDataStructures.graph.getClosestNode(transform.position);
currentThreadJob = new DynamicPathThreadJob(startNode, PathPlanningDataStructures.graph.endNode);
currentThreadJob.Start();
currentThreadJob.Join();
currentWayPoints = currentThreadJob.getPathWayPoints();
//indicate that next path segment needs to calculated
pathCalculated = false;
jobInProgress = false;
}
// <summary>
// Performs path planning for the first path segment by utilizing a DynamicPathThreadJob
// and waiting for it to complete
// </summary>
public void PathPlanInitialSegment()
{
//first triggered thread job for this car
startNode = PathPlanningDataStructures.graph.getClosestNode (transform.position);
currentThreadJob = new DynamicPathThreadJob (startNode, PathPlanningDataStructures.graph.endNode, closedNodes, 15.0f, true);
currentThreadJob.Start();
currentThreadJob.Join();
currentWayPoints = currentThreadJob.getPathWayPoints();
usesWaypoints = new bool[currentWayPoints.Count];
for (int i = 0; i < usesWaypoints.Length; i++) {
usesWaypoints [i] = true;
}
closedNodes = currentThreadJob.getClosedNodes ();
//indicate that next path segment needs to calculated
jobInProgress = false;
dynamicReplan = false;
}
// <summary>
// Performs path planning for the first path segment by utilizing a DynamicPathThreadJob
// and waiting for it to complete
// </summary>
public void PathPlanInitialSegment()
{
//first triggered thread job for this car
startNode = PathPlanningDataStructures.graph.getClosestNode(transform.position);
currentThreadJob = new DynamicPathThreadJob(startNode, PathPlanningDataStructures.graph.endNode, closedNodes, 15.0f, true);
currentThreadJob.Start();
currentThreadJob.Join();
currentWayPoints = currentThreadJob.getPathWayPoints();
usesWaypoints = new bool[currentWayPoints.Count];
for (int i = 0; i < usesWaypoints.Length; i++)
{
usesWaypoints [i] = true;
}
closedNodes = currentThreadJob.getClosedNodes();
//indicate that next path segment needs to calculated
jobInProgress = false;
dynamicReplan = false;
}
//Determines the intial path segment for the car
private void InitialPathPlan()
{
//first triggered thread job for this car
startNode = PathPlanningDataStructures.graph.getClosestNode (transform.position);
currentThreadJob = new DynamicPathThreadJob (startNode, PathPlanningDataStructures.graph.endNode);
currentThreadJob.Start();
currentThreadJob.Join();
currentWayPoints = currentThreadJob.getPathWayPoints();
//indicate that next path segment needs to calculated
pathCalculated = false;
jobInProgress = false;
}
