void ReturnToStart()
{
Debug.Log(myTaxi.name + " is delivering.");
returning = true;
// Go through the waypoints and create connections.
foreach (GameObject waypoint in Waypoints)
{
WaypointCON tmpWaypointCon = waypoint.GetComponent <WaypointCON>();
// Loop through a waypoints connections.
foreach (GameObject WaypointConNode in tmpWaypointCon.Connections)
{
Connection aConnection = new Connection
{
FromNode = waypoint,
ToNode = WaypointConNode
};
AStarManager.AddConnection(aConnection);
}
}
// Run A Star...
// ConnectionArray stores all the connections in the route to the goal / end node.
ConnectionArray = AStarManager.PathfindAStar(end, start);
}
// Start is called before the first frame update
void Start()
{
if (start == null || end == null)
{
Debug.Log("No start or end waypoints.");
return;
}
// Find all the waypoints in the level.
GameObject[] GameObjectsWithWaypointTag;
GameObjectsWithWaypointTag = GameObject.FindGameObjectsWithTag("Waypoint");
foreach (GameObject waypoint in GameObjectsWithWaypointTag)
{
WaypointCON tmpWaypointCon = waypoint.GetComponent <WaypointCON>();
if (tmpWaypointCon)
{
Waypoints.Add(waypoint);
}
}
// Go through the waypoints and create connections.
foreach (GameObject waypoint in Waypoints)
{
WaypointCON tmpWaypointCon = waypoint.GetComponent <WaypointCON>();
// Loop through a waypoints connections.
foreach (GameObject WaypointConNode in tmpWaypointCon.Connections)
{
Connection aConnection = new Connection();
aConnection.FromNode = waypoint;
aConnection.ToNode = WaypointConNode;
AStarManager.AddConnection(aConnection);
}
}
// Run A Star...
// ConnectionArray stores all the connections in the route to the goal / end node.
ConnectionArray = AStarManager.PathfindAStar(start, end);
}
/// <summary>
/// Navigates using AStar from a start Waypoint GameObject to an End Waypoint GameObject
/// and stores the waypoint path in m_destinationPath
/// </summary>
/// <param name="start">The start waypoint gameobject</param>
/// <param name="end">The end waypoint gameobject</param>
/// <returns>If the AStar path was able to determine a path</returns>
protected List <Connection> NavigateAStar(GameObject start, GameObject end)
{
/// Validate start and end are legit
if (start == null || end == null)
{
return(null);
}
/// Pathfind from start to end and check connection path is valid
List <Connection> connectionPath = m_astarManager.PathfindAStar(start, end);
if (connectionPath == null || connectionPath != null && connectionPath.Count <= 0)
{
return(null);
}
/// Set destination array and return true
//m_destinationPath = connectionPath;
return(connectionPath);
}
private void Start()
{
if (m_start == null || m_end == null)
{
Debug.Log("No start or end waypoints");
return;
}
GameObject[] goWithWaypointTags = GameObject.FindGameObjectsWithTag("Waypoint");
foreach (GameObject waypoint in goWithWaypointTags)
{
WaypointCON tempCon = waypoint.GetComponent <WaypointCON>();
if (tempCon)
{
m_waypoints.Add(waypoint);
}
}
foreach (GameObject waypoint in m_waypoints)
{
WaypointCON tempCon = waypoint.GetComponent <WaypointCON>();
foreach (GameObject waypointConNode in tempCon.Connections)
{
Connection aConnection = new Connection();
aConnection.FromNode = waypoint;
aConnection.ToNode = waypointConNode;
m_aStarManager.AddConnection(aConnection);
}
}
m_connectionArray = m_aStarManager.PathfindAStar(m_start, m_end);
// If no target node set, set initial position and target position
if (m_currentTargetNode == null)
{
m_currentTargetNode = m_connectionArray[m_currentTargetNodeIndex].ToNode;
this.transform.position = m_currentTargetNode.transform.position;
}
}