public Improbable.Collections.List <Improbable.Vector3f> generatePointToPointPlan(Improbable.Vector3f p1, Improbable.Vector3f p2)
{
if (isPointInNoFlyZone(p2))
{
Debug.LogError("next target is in a NFZ");
return(null); // A plan can not be found
}
int[] coord1 = bitmap.findGridCoordinatesOfPoint(p1);
if (coord1 == null)
{
Debug.LogError("coord1 fail");
return(null);
}
int[] coord2 = bitmap.findGridCoordinatesOfPoint(p2);
if (coord1 == null)
{
Debug.LogError("coord2 fail");
return(null);
}
GridLocation l1 = new GridLocation(coord1[0], coord1[1]);
GridLocation l2 = new GridLocation(coord2[0], coord2[1]);
ASearch = new ThetaStarSearch(true); // Use AStarSearch or ThetaStarSearch here.
float droneHeight = UnityEngine.Random.Range(SimulationSettings.MinimumDroneHeight, SimulationSettings.MaximumDroneHeight);
List <GridLocation> locs = ASearch.run(bitmap, l1, l2);
if (locs == null)
{ // The case that a path could not be found.
Debug.LogError("search fail");
return(null); // Just return empty list.
}
//Debug.LogWarning("NUM VERTICES IN PATH: " + locs.Count);
Improbable.Collections.List <Improbable.Vector3f> result = new Improbable.Collections.List <Improbable.Vector3f>();
result.Add(p1);
foreach (GridLocation l in locs)
{
Improbable.Vector3f convertedLocation = convertLocation(l);
Improbable.Vector3f location = new Improbable.Vector3f(convertedLocation.x, droneHeight, convertedLocation.z);
result.Add(location);
}
result.Add(p2);
return(result);
}
private void _searchCommand_Click(object sender, EventArgs e)
{
IGridSearch child = (this.ActiveMdiChild as IGridSearch);
if (child != null)
{
child.PerformSearch("whatever to search for");
}
else
{
MessageBox.Show("Can't search in the active form");
}
}
