private void RRT()
{
if (tree.getCount() > numPoints)
{
calculating = false;
return;
}
ArrayList dubinConn = freePath(tree.last.point, destination);
if (dubinConn.Count > 0)
{
Debug.DrawLine(tree.last.point, destination, Color.blue, timeDebug, false);
rrtNode d = new rrtNode(destination, tree.last);
//d.connection = dubinConn;
tree.addNode(d);
calculating = false;
//path = rrTree.optimizePath(tree.getPath());
path = tree.getPath();
//printPath (path);
}
else
{
addRandomNode(tree, dim);
}
}
private void RRT()
{
//if(onePoint) { onePoint=false; addFixedPoint(new Vector3(-12f, 1.5f, 3f)); return;}
//if(twoPoint) { twoPoint=false; addFixedPoint(new Vector3(-14f, 1.5f, -18f)); return;}
ArrayList dubinWay = freeCarPath(tree.last.point, tree.last.forward, destination);
draw.drawLine(tree.last.point, destination, Color.blue);
if (dubinWay.Count > 0)
{
rrtNode d = new rrtNode(destination, tree.last);
dubinWay.Reverse();
d.connection = dubinWay;
//draw.drawMultipleLines (d.connection, Color.magenta);
d.forward = ((Vector3)dubinWay[dubinWay.Count - 1] - (Vector3)dubinWay[dubinWay.Count - 2]).normalized;
tree.addNode(d);
calculating = false;
path = tree.getPath();
draw.drawMultipleLines(path, Color.magenta);
}
else
{
//if(onePoint) { onePoint=false; addRandomNode (tree, dimX, dimZ); }
//addRandomNode (tree, dimX, dimZ);
}
}
