private void moveKinematic()
{
if (Input.GetMouseButtonDown(0))
{
destination = DirectionUtility.getMouseDirection();
destination.y = transform.position.y;
go = true;
calculating = true;
inizializeTree(destination);
draw.clean();
}
else
{
if (go && path.Count > 0)
{
destination = (Vector3)path[path_index];
float d = Vector3.Distance(transform.position, destination);
if (d > 0.5)
{
Vector3 direction = (destination - transform.position).normalized;
DirectionUtility.makeKinematicMove(rigidbody, direction, speed);
}
else
{
rigidbody.velocity = Vector3.zero;
transform.position = destination;
path_index++;
if (path_index == path.Count)
{
go = false; path_index = 0;
}
}
}
}
}
// Update is called once per frame
void Update()
{
if (debug_print)
{
debug_print = false;
string log = "";
for (int i = 0; i < path.Count; i++)
{
log += path[i] + " ";
}
Debug.Log(log);
}
if (go && path != null && path.Count != 0)
{
if (!AstarReady)
{
// Debug.Log(path[index]);
pathAstar = Astar.getPath(transform.position, (Vector3)path[index]);
pathAstar.Reverse();
pathAstar.Add(path[index]);
//if(printAstarPath) foreach (Vector3 p in pathAstar) createPoint(p);
if (printAstarPath)
{
draw.drawMultipleLines(pathAstar, Color.red);
}
AstarReady = true;
indexAstar = 0;
//Debug.Log("Count "+pathAstar.Count);
}
if (pathAstar == null || pathAstar.Count == 0)
{
index++;
if (index == path.Count)
{
go = false;
index = 0;
}
return;
}
Vector3 destination = (Vector3)pathAstar[indexAstar];
//Debug.Log(indexAstar);
destination.y = mainY;
float d = Vector3.Distance(transform.position, destination);
if (d > 0.5f)
{
//makeDifferentialMove (transform, rigidbody, destination, 15f, 10f);
Vector3 direction = (destination - transform.position).normalized;
DirectionUtility.makeKinematicMove(rigidbody, direction, speed);
}
else
{
//Debug.Log(index);
transform.position = destination; //snap to destination
rigidbody.velocity = Vector3.zero;
rigidbody.angularVelocity = Vector3.zero;
indexAstar++;
if (indexAstar == pathAstar.Count)
{
//go = false;
// Debug.Log(indexAstar);
indexAstar = 0;
AstarReady = false;
index++;
if (index == path.Count)
{
go = false;
index = 0;
}
}
}
}
}
void Update()
{
if (Input.GetMouseButtonDown(0))
{
destination = DirectionUtility.getMouseDirection();
destination.y = transform.position.y;
calcPath = true;
}
if (calcPath)
{
calcPath = false;
go = true;
path = car.RSR(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(path))
{
return;
}
path = car.LSR(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(path))
{
return;
}
path = car.LSL(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(path))
{
return;
}
path = car.RSL(transform.position, transform.forward, destination);
draw.drawMultipleLines(path, Color.magenta);
if (free(path))
{
return;
}
go = false;
}
else if (go && path.Count > 0)
{
destination = (Vector3)path[path_index];
float d = Vector3.Distance(transform.position, destination);
if (d > 2)
{
Vector3 direction = (destination - transform.position).normalized;
correctAngle(direction);
DirectionUtility.makeKinematicMove(rigidbody, direction, speed);
}
else
{
rigidbody.velocity = Vector3.zero;
transform.position = destination;
path_index++;
if (path_index == path.Count)
{
go = false; path_index = 1;
}
}
}
}