public void generatePath()
{
// Reset the line renderer
lineRenderer.positionCount = 0;
if (numWaypoints > 1)
{
// Reset the DLL generator
rb_script.resetGenerator();
// First waypoint in the generator will be the robot starting position
rb_script.addWaypoint(waypointList[0].GetComponent <Transform>().position.x, waypointList[0].GetComponent <Transform>().position.y, 0);
// Add all subsequent waypoints to the generator, adjusted based on the x and y offset of the starting position
for (int i = 1; i < numWaypoints; i++)
{
rb_script.addWaypoint(waypointList[i].GetComponent <Transform>().position.x,
waypointList[i].GetComponent <Transform>().position.y,
waypointList[i].GetComponent <ObjectDrag>().angle);
}
// Generate the path
rb_script.generatePath();
// Retrieve the path from the generator
float[,] path;
path = rb_script.getPath();
lineRenderer.positionCount = path.GetLength(0);
rb_script.path_segments = path.GetLength(0);
// Use the line renderer to display the generated path
for (int i = 0; i < path.GetLength(0); i++)
{
lineRenderer.SetPosition(i, new Vector3(path[i, 0],
path[i, 1],
10f));
}
}
}
