public void init()
{
if (initComplete == false)
{
//set ref
gridScript = Ref.getGridScript();
visibleObstManager = GetComponent <VisibleObstManager>();
managerScript = Ref.getManagerGO().GetComponent <Manager>();
recalculateTime = GetComponent <AgentProps>().cooperationLenght;
spatialAStarScript = GetComponent <SpatialAStar>();
spaceTimeAStarScript = GetComponent <SpaceTimeAStar>();
agent = transform;
followPathScript = agent.GetComponent <FollowPath>();
//saves initial grid in grid var
saveInitalGrid();
spaceTimeAStarScript.init();
spatialAStarScript.init(grid);
spaceTimeAStarScript.setSpacialAStarScript(spatialAStarScript);
managerScript.increaseFrameCount();
//here we switch the role of target and agent
spatialAStarScript.FindPathSpatial(target.position, agent.position, true, null);
path = spaceTimeAStarScript.FindPath(agent.position, target.position, true);
followPathScript.init();
followPathScript.setNewPath(path);
}
initComplete = true;
}
void restartPath()
{
saveInitalGrid();
spatialAStarScript.init(grid);
managerScript.increaseFrameCount();
//here we switch the role of target and agent
spatialAStarScript.FindPathSpatial(target.position, agent.position, true, null);
path = spaceTimeAStarScript.FindPath(agent.position, target.position, true);
followPathScript = agent.GetComponent <FollowPath>();
followPathScript.setNewPath(path);
}
void Start()
{
managerScript = Ref.getManagerGO().GetComponent <Manager>();
gridScript = Ref.getGridScript();
visibleObstManagerScript = GetComponent <VisibleObstManager>();
agentPropsScript = GetComponent <AgentProps>();
saveInitalGrid();
agent = transform;
spatialAStarScript = GetComponent <SpatialAStar>();
spatialAStarScript.init(grid);
managerScript.increaseFrameCount();
path = spatialAStarScript.FindPathSpatial(agent.position, target.position, true, null);
followPathScript = agent.GetComponent <FollowPath>();
followPathScript.init();
followPathScript.setNewPath(path);
}
public void restartPath()
{
Node[,,] gridGlobal = gridScript.getGrid();
foreach (Node node in coveredNodes)
{
gridScript.markNode(gridGlobal[node.gridX, node.gridY, 0], true);
}
coveredNodes = visibleObstManagerScript.getAllObstCoveredNodes();
foreach (Node node in coveredNodes)
{
gridScript.getGrid()[node.gridX, node.gridY, 0].walkable = false;
}
saveInitalGrid();
spatialAStarScript.init(grid);
managerScript.increaseFrameCount();
path = spatialAStarScript.FindPathSpatial(agent.position, target.position, true, null);
followPathScript = agent.GetComponent <FollowPath>();
followPathScript.setNewPath(path);
}