// Use this for initialization
override protected void Start()
{
// Base call
base.Start();
// Check arguments
require(F > 0, "F has to be greater than 0");
require(obstacle != null, "Obstacle GameObject has to be set");
// It is a discrete car, make it smaller
transform.localScale = new Vector3(0.9f, 1.0f, 0.9f);
// Initializes some variables for graph creation
GraphState graph;
IState start, goal;
List <Vector3> obstacles = new List <Vector3>();
// Create graph
GraphFactory.CreateDiscreteFromFile("Assets/_Data/disc.dat",
neighborhood, out graph, out start, out goal, obstacles);
// Parent so it makes a nice structure
parent = new GameObject("Obstacles");
// Generate all obstacles
foreach (Vector3 v in obstacles)
{
Vector3 pos = new Vector3(v.x, -0.5f, v.z);
GameObject temp = (GameObject)
Instantiate(obstacle, pos, Quaternion.identity);
temp.SetActive(true);
temp.transform.parent = parent.transform;
}
// Now run astar and find path, add path to list
AStar ast = new AStar(graph, start, goal, AStar.HDisc);
List <Vector3> points = new List <Vector3>();
foreach (IState s in ast.path)
{
points.Add(s.ToVector3());
}
// Generate path
PathGenerator.Init(points);
// Move to starting position
transform.position = start.ToVector3();
// Just to initialize and set color
labelStyle = new GUIStyle();
labelStyle.normal.textColor = Color.black;
labelRect = new Rect(20, 20, 20, 20);
strCost = "Cost: " + ast.cost;
}
