/// <summary>
/// This method is used to decide which tile the robot has to reach. All the potential tiles are the one that are free and near an unknown one
/// </summary>
/// <returns></returns>
public IEnumerator ChoosingPointToReach()
{
while (!targetFound)
{
//RemovingWrongDetection();
DetectingFrontierPoints();
//Debug.Log(posToReach.Count);
if (posToReach.Count != 0)
{
goals = posToReach;
tempGoal = rDM.PosToReach(goals);
if (route != null)
{
route.Clear();
}
route = rPl.CheckVisibility(transform.position, tempGoal);
rM.tempReached = false;
if (route == null && noPath)
{
numeric_robot_map[(int)FixingRound(tempGoal.x / squareSize), (int)FixingRound(tempGoal.z / squareSize)] = numUnknownCell;
goals = posToReach;
tempGoal = rDM.PosToReach(goals);
if (route != null)
{
route.Clear();
}
route = rPl.CheckVisibility(transform.position, tempGoal);
rM.tempReached = false;
}
//Debug.Log(route);
if (route == null)
{
rM.ApproachingPointToReach(tempGoal);
}
else
{
rM.ApproachingPointToReach(route, 0);
}
}
else
{
transform.Rotate(Vector3.up * Time.deltaTime * 20f);
}
yield return(new WaitForSeconds(timeForDecision));
}
}
/// <summary>
/// This method returns the lest cost for the robot agent to reach a certain point
/// </summary>
/// <param name="dest"></param>
/// <returns></returns>
private float CalculatingPathCost(Vector3 dest)
{
candidatePathCost = 0f;
candidatePath = rPL.CheckVisibility(transform.position, dest);
if (candidatePath == null)
{
candidatePathCost = Mathf.Sqrt(((transform.position.x - dest.x) * (transform.position.x - dest.x)) + ((transform.position.z - dest.z) * (transform.position.z - dest.z)));
}
else
{
for (int i = 0; i < candidatePath.Count - 1; i++)
{
candidatePathCost += Mathf.Sqrt(((candidatePath[i].x - candidatePath[i + 1].x) * (candidatePath[i].x - candidatePath[i + 1].x)) + ((candidatePath[i].z - candidatePath[i + 1].z) * (candidatePath[i].z - candidatePath[i + 1].z)));
}
}
return(candidatePathCost);
}
/// <summary>
/// This method instantiates one of the destination points of a trajectory line. The DP is chosen according to index value
/// </summary>
/// <param name="goals">The list of destination points of the trajectory line</param>
/// <param name="index">The position, in the list, of the destination point to instantiate</param>
public void ApproachingPointToReach(List <Vector3> goals, int index)
{
if (tempDestination)
{
Destroy(tempDestination);
tempReached = false;
}
tempDestination = new GameObject();
//Debug.Log("List: " + goals.Count + ", starting with " + index);
List <Vector3> supplementaryPos = new List <Vector3>();
float distance = Mathf.Sqrt((transform.position.x - goals[index].x) * (transform.position.x - goals[index].x) + (transform.position.z - goals[index].z) * (transform.position.z - goals[index].z));
if (Physics.Linecast(transform.position, goals[index], layerMask) || distance > rangeRays)
{
supplementaryPos = rPL.CheckVisibility(transform.position, goals[index]);
if (supplementaryPos != null)
{
for (int i = 0; i < supplementaryPos.Count - 1; i++)
{
goals.Insert(index, supplementaryPos[i]);
}
}
}
tempDestination.transform.position = goals[index];
tempDestination.AddComponent <BoxCollider>();
tempDestination.GetComponent <BoxCollider>().size = new Vector3(1f, 1f, 1f);
tempDestination.GetComponent <BoxCollider>().isTrigger = true;
tempDestination.AddComponent <RobotSpoofedDestPath>();
tempDestination.GetComponent <RobotSpoofedDestPath>().robot = this.gameObject;
tempDestination.GetComponent <RobotSpoofedDestPath>().index = index;
tempDestination.GetComponent <RobotSpoofedDestPath>().path = goals;
tempDestination.tag = "Opponent";
tempDestination.layer = 13;
}
