private GridPoint GetNearestPoint(Vector2 point, CityGraph graph)
{
float lowest = float.MaxValue;
int nearestIndex = -1;
for (int i = 0; i < graph.GetVertexCount(); i++)
{
float curDist = Vector2.Distance(graph.GetVertexAt(i).position.ConvertToWorldPoint(m_PointSpacing), point);
if (curDist < lowest)
{
lowest = curDist;
nearestIndex = i;
}
}
return(graph.GetVertexAt(nearestIndex).position);
}
private CityGraph BuildRRT(CityGraph init, int numVerticesK, float incDist)
{
CityGraph outputGraph = init;
RemoveObstructedPoints();
if (restrictToCircle)
{
}
for (int k = 0; k < numVerticesK; k++)
{
Vector2 qRand = GetRandomPoint();
GridPoint qNear = GetNearestPoint(qRand, init);
float curInc = incDist - ((outputGraph.GetVertexCount() / reduceIncEvery) * reduceBy);
curInc = Mathf.Max(curInc, minIncrement);
GridPoint qNew = NewConfig(qNear.ConvertToWorldPoint(m_PointSpacing), qRand, curInc);
outputGraph.AddVertex(qNew);
outputGraph.AddEdge(qNear, qNew);
}
return(outputGraph);
}