public void RequestPath()
{
Node startNode = grid.NodeFromWorldPoint(grid.mapData.start);
Node endNode = grid.NodeFromWorldPoint(grid.mapData.end);
astar.AStarSearch(startNode, endNode);
}
public void RequestPath()
{
Node startNode = grid.grid [Convert.ToInt32(grid.mapData.start.x), Convert.ToInt32(grid.mapData.start.y)];
Node endNode = grid.grid [Convert.ToInt32(grid.mapData.end.x), Convert.ToInt32(grid.mapData.end.y)];
// Förstår inte varför startPos ligger i mapData.end och
// endPos ligger i mapData.start ....... något fel vid inläsningen i MapLoader
print("start: " + startNode.gridPosX + ", " + startNode.gridPosY);
print(startNode.worldPosition);
print("end: " + endNode.gridPosX + ", " + endNode.gridPosY);
print(endNode.worldPosition);
path = astar.AStarSearch(endNode, startNode);
// path = astar.BFS (startNode, endNode);
print("Time since Startup:" + Time.realtimeSinceStartup);
}
/*
* Function: HasPath
* Generates a path from the agent to the target via an A* search on the target
*
* Returns:
* true if there is a path; false if there is no path
*/
private bool HasPath()
{
if (path.Count > 0 && path[path.Count - 1].Contains(target.position))
{
return(true);
}
//generate new path to target
//get the desired octree in scene
GameObject[] octreeGOs = GameObject.FindGameObjectsWithTag("Octree");
foreach (GameObject tree in octreeGOs)
{
if (tree.name.Equals(octreeName))
{
octree = tree.GetComponent <OctreeSetup>().octree;
break;
}
}
if (octree == null)
{
Debug.LogError("Octree does not exist");
return(false);
}
//get start and goal nodes
OTNode goalNode = octree.TransformToNode(target.position);
OTNode startNode = octree.TransformToNode(Agent.transform.position);
astar.SetStart(startNode);
astar.SetGoal(goalNode);
//see if there is a path between start and goal
if (astar.AStarSearch())
{
path = astar.GetPath();
Debug.Log("Path has been generated!");
Debug.Log("Path length: " + path.Count);
return(true);
}
Debug.Log("NO PATH GENERATED!!!");
path.Clear();
return(false);
}
private Node GetSolvedNode()
{
return(aStar.AStarSearch(Board));
}