// Use this for initialization
override protected void Start()
{
// Base call
base.Start();
// Check parameters
require(maxVelocity > 0.0f, "Max velocity must be greater than 0");
// Change size
transform.localScale = new Vector3(3.0f, 3.0f, 3.0f);
// Create Visibility graph
GraphState graph;
IState start, goal;
List <Polygon> polys = new List <Polygon>();
GraphFactory.CreatePolyFromFile("Assets/_Data/" + obstacleFilename,
out graph, out start, out goal, polys);
// Generate and render all obstacles
GameObject parent = new GameObject();
parent.name = "Polygonal Obstacles";
foreach (Polygon pol in polys)
{
GameObject go = pol.ToGameObject(material);
go.transform.parent = parent.transform;
}
// Running the big guy and adding path to the list
AStar ast = new AStar(graph, start, goal, AStar.HCont);
List <Vector3> points = new List <Vector3>();
foreach (IState s in ast.path)
{
points.Add(s.ToVector3());
}
// Generate path
PathGenerator.Init(points);
// Move to starting position
transform.position = start.ToVector3();
// Just to initialize and set color
labelStyle = new GUIStyle();
labelStyle.normal.textColor = Color.black;
labelRect = new Rect(20, 20, 20, 20);
strCost = "Distance: " + ast.cost.ToString("0.00");
}