public ArrayList findPath(Vector3 source, Vector3 dest, int numPoints, int dim)
{
rrTree tree = new rrTree();
rrtNode s = new rrtNode(source, null);
bool end = false;
tree.addNode(s);
rrtNode lastPoint = s;
bool doCheck = true;
for (int i = 0; i < numPoints && !end; i++)
{
if (doCheck)
{
if (freePath(lastPoint.point, dest))
{
rrtNode d = new rrtNode(dest, lastPoint);
lastPoint.addConnection(d);
tree.addNode(d);
//Debug.Log ("Point: "+point.point);
end = true;
}
}
if (!end)
{
//pick up a random point
//Vector3 newPoint = new Vector3 (myRnd (-dim, dim), 0, myRnd (-dim, dim));
//Vector3 newPoint = new Vector3 ( myRnd (s.point.x, 1, dim), y, myRnd (s.point.z, 1, dim));
Vector3 newPoint = myRndVector(source, dest, dim, 30f, 0.3f);
rrtNode point = tree.findClosestNode(newPoint);
if (point != null && freePath(newPoint, point.point))
{
//if it is possible to reach the point from the previous point
//add the connection
rrtNode p2 = new rrtNode(newPoint, point);
point.addConnection(p2);
tree.addNode(p2);
//from the next iteration consider the new point
lastPoint = p2;
createPoint(p2.point);
doCheck = true;
}
//else doCheck = false;
}
}
return(tree.getPath());
}
private bool addRandomNode(rrTree tree, int dim)
{
Vector3 newPoint = new Vector3(myRnd(dim), y, myRnd(dim));
createPoint(newPoint);
rrtNode point = tree.findClosestNode(newPoint);
if (point != null && freePath(point.point, newPoint))
{
//if it is possible to reach the point from the previous point
//add the connection
rrtNode p2 = new rrtNode(newPoint, point);
point.addConnection(p2);
tree.addNode(p2);
myDrawLine(point.point, newPoint, Color.blue);
return(true);
}
return(true);
}
private bool addRandomNode(rrTree tree, int dim)
{
Vector3 newPoint = new Vector3(myRnd(dim), y, myRnd(dim));
createPoint(newPoint);
rrtNode point = tree.findClosestNode(newPoint);
ArrayList carPath = freePath(point.point, newPoint, point.forward);
if (point != null && carPath.Count > 0)
{
//if it is possible to reach the point from the previous point
//add the connection
rrtNode p2 = new rrtNode(newPoint, point);
p2.forward = ((Vector3)carPath[carPath.Count - 1] - (Vector3)carPath[carPath.Count - 2]).normalized;
//point.addConnection(p2);
tree.addNode(p2);
myDrawLine(point.point, newPoint, Color.blue);
return(true);
}
return(true);
}
private bool addRandomNode(Vector3 source, Vector3 dest, rrTree tree, int dim)
{
//Vector3 newPoint = new Vector3 (myRnd (-dim, dim), 0, myRnd (-dim, dim));
//Vector3 newPoint = new Vector3 ( myRnd (tree.source.point.x, 1, dim), y, myRnd (tree.source.point.z, 1, dim));
Vector3 newPoint = myRndVector(source, dest, dim, 30f, 0.3f);
createPoint(newPoint);
Debug.Log("Rand point: " + newPoint);
rrtNode point = tree.findClosestNode(newPoint);
if (point != null) // && freePath(newPoint, point.point) ) {
//if it is possible to reach the point from the previous point
//add the connection
{
rrtNode p2 = new rrtNode(newPoint, point);
point.addConnection(p2);
tree.addNode(p2);
return(true);
}
return(true);
}
