// Start is called before the first frame update
void Start()
{
robot = GameObject.Find("Robot");
rb_script = robot.GetComponent <robotScript>();
// First point will be the position of the robot game object
waypointList.Add(robot);
//lineRenderer instantiation
lineRenderer = gameObject.AddComponent <LineRenderer>();
lineRenderer.material = new Material(Shader.Find("Sprites/Default"));
lineRenderer.widthMultiplier = .1f;
lineRenderer.positionCount = rb_script.path_segments + 1;
lineRenderer.sortingOrder = 2;
lineRenderer.useWorldSpace = true;
// A simple 2 color gradient with a fixed alpha of 1.0f.
float alpha = 1.0f;
Gradient gradient = new Gradient();
gradient.SetKeys(
new GradientColorKey[] { new GradientColorKey(c1, 0.0f), new GradientColorKey(c2, 1.0f) },
new GradientAlphaKey[] { new GradientAlphaKey(alpha, 0.0f), new GradientAlphaKey(alpha, 1.0f) }
);
lineRenderer.colorGradient = gradient;
}
// Start is called before the first frame update
void Start()
{
//access robot object with preloaded
robot = GameObject.Find("Robot");
rb_script = robot.GetComponent <robotScript>();
rb_body = rb_script.robot_body;
//lineRenderer instantiation
LineRenderer lineRenderer = gameObject.AddComponent <LineRenderer>();
lineRenderer.material = new Material(Shader.Find("Sprites/Default"));
lineRenderer.widthMultiplier = .1f;
lineRenderer.positionCount = rb_script.path_segments + 1;
lineRenderer.sortingOrder = 1;
lineRenderer.useWorldSpace = true;
// A simple 2 color gradient with a fixed alpha of 1.0f.
float alpha = 1.0f;
Gradient gradient = new Gradient();
gradient.SetKeys(
new GradientColorKey[] { new GradientColorKey(c1, 0.0f), new GradientColorKey(c2, 1.0f) },
new GradientAlphaKey[] { new GradientAlphaKey(alpha, 0.0f), new GradientAlphaKey(alpha, 1.0f) }
);
lineRenderer.colorGradient = gradient;
}
private void saveCallback()
{
robotScript rb_Script = GameObject.Find("Robot").GetComponent <robotScript>();
rb_Script.setTrajectoryConstants(float.Parse(maxJerk.text),
float.Parse(maxAcc.text),
float.Parse(maxDeacc.text),
float.Parse(maxVel.text));
rb_Script.setPathGenerationConstants(float.Parse(maxStepX.text),
float.Parse(maxStepY.text),
float.Parse(maxStepTheta.text),
float.Parse(lookaheadDist.text));
rb_Script.setRobotConstants(float.Parse(driveRadius.text),
float.Parse(driveWidth.text));
}
private void StartAlgo()
{
GameObject robot = (GameObject)Instantiate(robotPrefab);
_robotScript = robot.GetComponent <robotScript>();
switch (StaticVars.algo)
{
case "BFS":
graph.BFS(StaticVars.startRow, StaticVars.startCol, graph);
break;
case "DFS":
graph.DFS(StaticVars.startRow, StaticVars.startCol, graph);
break;
default:
throw new Exception("No Algo");
}
}
