/*
* public bool freePath (Vector3 p1, Vector3 p2) {
* Vector3 direction = (p2 - p1).normalized;
* float sight = (p2 - p1).magnitude;
* RaycastHit hit;
* return !rigidbody.SweepTest (direction, out hit, sight);
* }
*/
public ArrayList freePath(Vector3 p1, Vector3 p2, Vector3 forward)
{
ArrayList dubinPath;
dubinPath = car.RSR(p1, forward, p2);
draw.drawMultipleLines(dubinPath, Color.magenta);
if (free(dubinPath))
{
return(dubinPath);
}
dubinPath = car.LSR(p1, forward, p2);
draw.drawMultipleLines(dubinPath, Color.magenta);
if (free(dubinPath))
{
return(dubinPath);
}
dubinPath = car.LSL(p1, forward, p2);
draw.drawMultipleLines(dubinPath, Color.magenta);
if (free(dubinPath))
{
return(dubinPath);
}
dubinPath = car.RSL(p1, forward, p2);
draw.drawMultipleLines(dubinPath, Color.magenta);
if (free(dubinPath))
{
return(dubinPath);
}
return(new ArrayList());
}
public ArrayList freePath(Vector3 p1, Vector3 p2)
{
ArrayList dubinPath;
dubinPath = car.RSR(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(dubinPath))
{
return(dubinPath);
}
dubinPath = car.LSR(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(dubinPath))
{
return(dubinPath);
}
dubinPath = car.LSL(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(dubinPath))
{
return(dubinPath);
}
dubinPath = car.RSL(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(dubinPath))
{
return(dubinPath);
}
return(new ArrayList());
}
public ArrayList freeCarPath(Vector3 pos, Vector3 fwd, Vector3 dest)
{
ArrayList way;
way = car.RSR(pos, fwd, dest);
//Debug.Log (free (way) );
//draw.drawMultipleLines(path, Color.magenta);
if (free(way))
{
return(way);
}
way = car.LSR(pos, fwd, dest);
//draw.drawMultipleLines(path, Color.magenta);
if (free(way))
{
return(way);
}
way = car.LSL(pos, fwd, dest);
//draw.drawMultipleLines(path, Color.magenta);
if (free(way))
{
return(way);
}
way = car.RSL(pos, fwd, dest);
//draw.drawMultipleLines(path, Color.magenta);
if (free(way))
{
return(way);
}
return(new ArrayList());
}
void Update()
{
if (Input.GetMouseButtonDown(0))
{
destination = DirectionUtility.getMouseDirection();
destination.y = transform.position.y;
calcPath = true;
}
if (calcPath)
{
calcPath = false;
go = true;
path = car.RSR(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(path))
{
return;
}
path = car.LSR(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(path))
{
return;
}
path = car.LSL(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(path))
{
return;
}
path = car.RSL(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(path))
{
return;
}
go = false;
}
else if (go && path.Count > 0)
{
destination = (Vector3)path[path_index];
float d = Vector3.Distance(transform.position, destination);
if (d > 2)
{
Vector3 direction = (destination - transform.position).normalized;
correctAngle(direction);
DirectionUtility.makeKinematicMove(rigidbody, direction, speed);
}
else
{
rigidbody.velocity = Vector3.zero;
transform.position = destination;
path_index++;
if (path_index == path.Count)
{
go = false; path_index = 1;
}
}
}
}