void Start()
{
PolyMapLoader loader = new PolyMapLoader("x", "y", "goalPos", "startPos", "button");
polyData = loader.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
CreateObstacles();
ConstructWalkableLines();
// CreateInterObstacleWalk ();
// print ("Walkable lines: " + walkableLines.Count);
// graph.PrintGraph ();
kinematic_vel = 20f;
path = pathFinder.AStarSearch(polyData.start, polyData.end, graph);
// print ("path length: " + path.Count);
// Choose model
transform.position = polyData.start;
//model = gameObject.AddComponent<KinematicPointModel> ();
//model = gameObject.AddComponent<DynamicPointModel> ();
model = gameObject.AddComponent <DifferentialDriveModel> ();
model.SetPath(path);
model.StartCoroutineMove();
}
// Use this for initialization
void Start()
{
Application.runInBackground = true;
map = new PolyMapLoader("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button");
polyData = map.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
//Create visibility graph
CreateObstacles();
ConstructWalkableLines();
CreateInterObstacleWalk();
agents = new List <T5Agent>();
agentColors = new List <Color>();
agentColors.Add(Color.black);
agentColors.Add(Color.blue);
agentColors.Add(Color.yellow);
agentColors.Add(Color.cyan);
agentColors.Add(Color.green);
paths = new List <Vector3> [map.polyData.start.Count];
agentAtWaypoint = new int[map.polyData.start.Count];
int agentCounter = 0;
for (int i = 0; i < map.polyData.start.Count; i = i + 1)
{
Vector3 startNode = map.polyData.start[i];
Vector3 endNode = map.polyData.end[i];
T5Agent newAgent = new T5Agent("Agent " + agentCounter, startNode, endNode, agentCounter, true);
newAgent.agent.gameObject.renderer.material.color = agentColors[i];
List <PolyNode> ppath = pathFinder.AStarSearch(startNode, endNode, graph);
List <Vector3> temp = new List <Vector3> ();
foreach (PolyNode p in ppath)
{
temp.Add(p.pos);
}
//temp.Add(endNode);
paths[i] = temp;
agentAtWaypoint[i] = 0;
agents.Add(newAgent);
agentCounter++;
}
Debug.Log("Agents size:" + agents.Count);
StartCoroutine("Move");
}
public List <PolyNode> AStarSearch(Vector3 start, Vector3 end, VGraph graph)
{
if (start == end)
{
return(new List <PolyNode>());
}
PolyNode targetNode = graph.graph [end];
PolyNode startNode = graph.graph [start];
PriorityQueue <PolyNode, float> frontier = new PriorityQueue <PolyNode, float> ();
Dictionary <PolyNode, PolyNode> cameFrom = new Dictionary <PolyNode, PolyNode> ();
Dictionary <PolyNode, float> costSoFar = new Dictionary <PolyNode, float> ();
frontier.Enqueue(startNode, 0f);
cameFrom [startNode] = null;
costSoFar [startNode] = 0;
PolyNode currentNode;
while (frontier.Count() != 0)
{
currentNode = frontier.Dequeue();
if (currentNode == targetNode)
{
return(ConstructPath(startNode, targetNode, cameFrom));
}
foreach (Vector3 nodePos in currentNode.neighbours)
{
float newCost = costSoFar[currentNode] + GetCost(currentNode, graph.graph[nodePos]);
if (!costSoFar.ContainsKey(graph.graph[nodePos]) || newCost < costSoFar[graph.graph[nodePos]])
{
costSoFar[graph.graph[nodePos]] = newCost;
float priority = newCost + Heuristic(targetNode.pos, nodePos);
frontier.Enqueue(graph.graph[nodePos], priority);
cameFrom[graph.graph[nodePos]] = currentNode;
}
}
}
return(new List <PolyNode> ());
}
void Start()
{
map = new PolyMapLoaderT3("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button", "polygMap1/customerPos");
polyData = map.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
// START VRP
R = 3;
agents = new List <PolyAgent> ();
for (int i = 0; i < polyData.start.Count; i++)
{
Vector3 start = polyData.start[i];
Vector3 end = polyData.end[i];
agents.Add(new PolyAgent("Agent " + i, start, end, R, "car"));
agents [i].agent.renderer.material.color = Color.black;
agents[i].model = gameObject.AddComponent <DynamicCarModel> ();
//agents[i].model = gameObject.AddComponent<DynamicPointModel> ();
}
List <Vector3> customers = new List <Vector3> (); // for plotting
foreach (Vector3 v in polyData.customers)
{
customers.Add(v);
}
vrp = new VRPPL(customers, agents.Count);
// END VRP
CreateObstacles();
ConstructWalkableLines();
CreateInterObstacleWalk();
// print ("Walkable lines: " + walkableLines.Count);
// graph.PrintGraph ();
stopwatch.Start();
ready = new List <PolyAgent> ();
}
void Start()
{
map = new PolyMapLoaderT3("polygMap1/x", "polygMap1/y", "polygMap1/goalPos", "polygMap1/startPos",
"polygMap1/button", "polygMap1/customerPos");
polyData = map.polyData;
graph = new VGraph();
walkableLines = new List <Line> ();
// START VRP
R = 3;
CreateObstacles();
ConstructWalkableLines();
CreateInterObstacleWalk();
agents = new List <T5PolyAgent> ();
for (int i = 0; i < polyData.start.Count; i++)
{
Vector3 start = polyData.start[i];
Vector3 end = polyData.end[i];
agents.Add(new T5PolyAgent("Agent " + i, start, end, R, "car"));
agents [i].agent.renderer.material.color = Color.black;
agents[i].model = gameObject.AddComponent <T5DynCar> ();
List <PolyNode> ppath = pathFinder.AStarSearch(start, end, graph);
List <Vector3> path = new List <Vector3> ();
foreach (PolyNode node in ppath)
{
path.Add(node.pos);
}
agents[i].model.SetPath(path, agents[i], new List <Line> ());
}
foreach (T5PolyAgent agent in agents)
{
agent.model.SetAgents(ref agents);
agent.model.StartCoroutineMove();
}
stopwatch.Start();
ready = new List <T5PolyAgent> ();
}
