//Check if the target car has a valid position
private bool HasCarValidPosition(Car car)
{
bool hasValidPosition = false;
if (!ObstaclesDetection.HasCarInvalidPosition(car.rearWheelPos, car.HeadingInRadians, car.carData, map))
{
hasValidPosition = true;
}
return(hasValidPosition);
}
private Map InitMap()
{
//Generate the map, which is needed so we can test the voronoi field which pushes the path away from obstacles
Map map = new Map(30, 1f);
//Init the obstacles data needed to push the path away from these obstacles
List <Obstacle> obstacles = new List <Obstacle>();
for (int i = 0; i < obstaclesTrans.Count; i++)
{
Obstacle obs = new Obstacle(obstaclesTrans[i]);
obstacles.Add(obs);
}
//Find which cells are obstacles
map.allObstacles = obstacles;
ObstaclesDetection.WhichCellsAreObstacle(map);
//Generate the voronoi field
VoronoiFieldCell[,] voronoiField = VoronoiField.GenerateField(map.CellCenterArray, map.CellObstacleArray);
for (int x = 0; x < map.MapWidth; x++)
{
for (int z = 0; z < map.MapWidth; z++)
{
map.cellData[x, z].voronoiFieldCell = voronoiField[x, z];
}
}
//Display
DisplayMap(map);
return(map);
}
//Generate the Generalized Voronoi Diagram
private void GenerateGVD()
{
//Will automatically generate the center of each cell
Map map = new Map(30, 1f);
//Add which cells are obstacles
List <Obstacle> obstacles = new List <Obstacle>();
for (int i = 0; i < obstaclesTrans.Count; i++)
{
Obstacle obstacle = new Obstacle(obstaclesTrans[i]);
obstacles.Add(obstacle);
}
map.allObstacles = obstacles;
ObstaclesDetection.WhichCellsAreObstacle(map);
//Generate the Voronoi field that determines the traversal cost at each cell
VoronoiFieldCell[,] voronoiField = VoronoiField.GenerateField(map.CellCenterArray, map.CellObstacleArray);
//To get the same random colors each time or they will constantly change color
Random.InitState(0);
//Find how many regions we have
int regions = -1;
for (int z = 0; z < map.MapWidth; z++)
{
for (int x = 0; x < map.MapWidth; x++)
{
if (voronoiField[x, z].region > regions)
{
regions = voronoiField[x, z].region;
}
}
}
//Regions start at 0 so we have to add 1
regions += 1;
//Generate the random colors for each region
List <Color> regionColors = new List <Color>();
for (int i = 0; i < regions; i++)
{
regionColors.Add(new Color(Random.Range(0f, 1f), Random.Range(0f, 1f), Random.Range(0f, 1f)));
}
//Debug.Log(regionColors.Count);
//Debug.Log(regions);
//Display the grid
for (int z = 0; z < map.MapWidth; z++)
{
for (int x = 0; x < map.MapWidth; x++)
{
Vector3 cellPos = map.cellData[x, z].centerPos;
//Gizmos.color = map.cellData[x, z].isObstacleInCell ? Color.red : Color.white;
//Gizmos.DrawCube(cellPos, new Vector3(cellSize * 0.95f, 0.01f, cellSize * 0.95f));
//continue;
//if (voronoiField[x, z].region == -1)
//{
// Gizmos.color = Color.white;
//}
//else if (voronoiField[x, z].isObstacle)
//{
// Gizmos.color = Color.red;
//}
//else if (voronoiField[x, z].isVoronoiEdge)
//{
// Gizmos.color = Color.gray;
//}
//else
//{
// Gizmos.color = regionColors[voronoiField[x, z].region];
//}
//Color for voronoi regions
Gizmos.color = regionColors[voronoiField[x, z].region];
//Color for voronoi field
float rgb = 1f - voronoiField[x, z].voronoiFieldValue;
//Apparently, Gizmos.color is drawing at half color intensity, so we should double to get the correct color
rgb *= 2f;
//Gizmos.color = new Color(rgb, rgb, rgb, 1.0f);
float cubeSize = map.CellWidth * 0.95f;
Gizmos.DrawCube(cellPos, new Vector3(cubeSize, 0.01f, cubeSize));
}
}
}
