// Use this for initialization
void Start()
{
map = new PolyMapLoader("T4Map/x", "T4Map/y", "T4Map/goalPosT4", "T4Map/startPosT4", "T4Map/Button");
int agentCounter = 0;
agents = new List <T4Agent2>();
for (int i = 0; i < map.polyData.start.Count; i = i + 1)
{
Vector3 startNode = map.polyData.start[i];
Vector3 endNode = map.polyData.end[i];
T4Agent2 newAgent = new T4Agent2("Agent " + agentCounter, startNode, endNode);
agents.Add(newAgent);
agentCounter++;
}
Debug.Log("Agents size:" + agents.Count);
/*
* //Test
* T4Agent2 temp = new T4Agent2 ("Test", new Vector3 (2, 1, 2), new Vector3(1,1,1));
* T4Agent2 temp2 = new T4Agent2 ("Test2", new Vector3 (0, 1, 0), new Vector3 (2, 1, 2));
* temp2.velocity = new Vector3 (1, 0, 1);
* List<T4Agent2> tempList = new List<T4Agent2> ();
* tempList.Add (temp);
* tempList.Add (temp2);
* float tempTime = temp2.calculateTimeToCollision (new Vector3 (1, 0, 1), tempList);
* Debug.Log ("TempTime:" + tempTime);*/
StartCoroutine("Move");
}
void OnDrawGizmos()
{
if (map == null)
{
map = new PolyMapLoader("T4Map/x", "T4Map/y", "T4Map/goalPosT4", "T4Map/startPosT4", "T4Map/Button");
}
if (map.polyData.nodes != null)
{
foreach (Vector3 node in map.polyData.nodes)
{
Gizmos.color = Color.blue;
Gizmos.DrawCube(node, Vector3.one);
}
foreach (Line line in map.polyData.lines)
{
Gizmos.color = Color.black;
Gizmos.DrawLine(line.point1, line.point2);
}
}
Gizmos.color = Color.black;
Gizmos.DrawLine(new Vector3(xLow, 1, zLow), new Vector3(xHigh, 1, zLow));
Gizmos.DrawLine(new Vector3(xHigh, 1, zLow), new Vector3(xHigh, 1, zHigh));
Gizmos.DrawLine(new Vector3(xHigh, 1, zHigh), new Vector3(xLow, 1, zHigh));
Gizmos.DrawLine(new Vector3(xLow, 1, zHigh), new Vector3(xLow, 1, zLow));
}
void Start()
{
PolyMapLoader loader = new PolyMapLoader("x", "y", "goalPos", "startPos", "button");
polyData = loader.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
CreateObstacles();
ConstructWalkableLines();
// CreateInterObstacleWalk ();
// print ("Walkable lines: " + walkableLines.Count);
// graph.PrintGraph ();
kinematic_vel = 20f;
path = pathFinder.AStarSearch(polyData.start, polyData.end, graph);
// print ("path length: " + path.Count);
// Choose model
transform.position = polyData.start;
//model = gameObject.AddComponent<KinematicPointModel> ();
//model = gameObject.AddComponent<DynamicPointModel> ();
model = gameObject.AddComponent <DifferentialDriveModel> ();
model.SetPath(path);
model.StartCoroutineMove();
}
void OnDrawGizmos()
{
map = new PolyMapLoader("x", "y", "goalPos", "startPos", "button");
if (map.polyData.nodes != null)
{
foreach (Vector3 node in map.polyData.nodes)
{
Gizmos.color = Color.blue;
Gizmos.DrawCube(node, Vector3.one);
}
foreach (Line line in map.polyData.lines)
{
Gizmos.color = Color.black;
Gizmos.DrawLine(line.point1, line.point2);
}
}
Gizmos.color = Color.black;
Gizmos.DrawLine(new Vector3(0, 1, 0), new Vector3(100, 1, 0));
Gizmos.DrawLine(new Vector3(100, 1, 0), new Vector3(100, 1, 90));
Gizmos.DrawLine(new Vector3(100, 1, 90), new Vector3(0, 1, 90));
Gizmos.DrawLine(new Vector3(0, 1, 90), new Vector3(0, 1, 0));
}
void OnDrawGizmos()
{
if (map == null)
{
map = new PolyMapLoader("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button");
}
if (agentColors == null)
{
agentColors = new List <Color>();
agentColors.Add(Color.black);
agentColors.Add(Color.blue);
agentColors.Add(Color.yellow);
agentColors.Add(Color.cyan);
agentColors.Add(Color.green);
}
if (map.polyData.nodes != null)
{
foreach (Vector3 node in map.polyData.nodes)
{
Gizmos.color = Color.blue;
Gizmos.DrawCube(node, Vector3.one);
}
foreach (Line line in map.polyData.lines)
{
Gizmos.color = Color.black;
Gizmos.DrawLine(line.point1, line.point2);
}
}
for (int i = 0; i < map.polyData.start.Count; i = i + 1)
{
Vector3 startNode = map.polyData.start[i];
Vector3 endNode = map.polyData.end[i];
Gizmos.color = Color.green;
Gizmos.DrawCube(startNode, Vector3.one);
Gizmos.color = Color.red;
Gizmos.DrawCube(endNode, Vector3.one);
Gizmos.color = agentColors[i];
Gizmos.DrawLine(startNode, endNode);
}
Gizmos.color = Color.black;
Gizmos.DrawLine(new Vector3(xLow, 1, zLow), new Vector3(xHigh, 1, zLow));
Gizmos.DrawLine(new Vector3(xHigh, 1, zLow), new Vector3(xHigh, 1, zHigh));
Gizmos.DrawLine(new Vector3(xHigh, 1, zHigh), new Vector3(xLow, 1, zHigh));
Gizmos.DrawLine(new Vector3(xLow, 1, zHigh), new Vector3(xLow, 1, zLow));
Gizmos.color = Color.red;
Gizmos.DrawSphere(blackGoal, 5);
}
// Use this for initialization
void Start()
{
Application.runInBackground = true;
map = new PolyMapLoader("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button");
polyData = map.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
//Create visibility graph
CreateObstacles();
ConstructWalkableLines();
CreateInterObstacleWalk();
agents = new List <T5Agent>();
agentColors = new List <Color>();
agentColors.Add(Color.black);
agentColors.Add(Color.blue);
agentColors.Add(Color.yellow);
agentColors.Add(Color.cyan);
agentColors.Add(Color.green);
paths = new List <Vector3> [map.polyData.start.Count];
agentAtWaypoint = new int[map.polyData.start.Count];
int agentCounter = 0;
for (int i = 0; i < map.polyData.start.Count; i = i + 1)
{
Vector3 startNode = map.polyData.start[i];
Vector3 endNode = map.polyData.end[i];
T5Agent newAgent = new T5Agent("Agent " + agentCounter, startNode, endNode, agentCounter, true);
newAgent.agent.gameObject.renderer.material.color = agentColors[i];
List <PolyNode> ppath = pathFinder.AStarSearch(startNode, endNode, graph);
List <Vector3> temp = new List <Vector3> ();
foreach (PolyNode p in ppath)
{
temp.Add(p.pos);
}
//temp.Add(endNode);
paths[i] = temp;
agentAtWaypoint[i] = 0;
agents.Add(newAgent);
agentCounter++;
}
Debug.Log("Agents size:" + agents.Count);
StartCoroutine("Move");
}
// Use this for initialization
void Awake()
{
PolyMapLoader map = new PolyMapLoader("x", "y", "goalPos", "startPos", "button");
polyData = map.polyData;
/*
* Debugging
* map.polyData.printNodes ();
* map.polyData.printStart ();
* map.polyData.printEnd ();
* map.polyData.printButtons ();
*/
}
// Use this for initialization
void Start()
{
map = new PolyMapLoader("x", "y", "goalPos", "startPos", "button");
Debug.Log("Lines size:" + map.polyData.lines.Count);
Debug.Log("Vertices size:" + map.polyData.nodes.Count);
//Debug.Log ("Created Graph size:" + createdGraph.possibleLines.Count);
/*
* Debugging
* map.polyData.printNodes ();
* map.polyData.printStart ();
* map.polyData.printEnd ();
* map.polyData.printButtons ();
*/
}
