//Determines the intial path segment for the car private void InitialPathPlan() { //first triggered thread job for this car startNode = PathPlanningDataStructures.graph.getClosestNode(transform.position); currentThreadJob = new DynamicPathThreadJob(startNode, PathPlanningDataStructures.graph.endNode); currentThreadJob.Start(); currentThreadJob.Join(); currentWayPoints = currentThreadJob.getPathWayPoints(); //indicate that next path segment needs to calculated pathCalculated = false; jobInProgress = false; }
// <summary> // Performs path planning for the first path segment by utilizing a DynamicPathThreadJob // and waiting for it to complete // </summary> public void PathPlanInitialSegment() { //first triggered thread job for this car startNode = PathPlanningDataStructures.graph.getClosestNode (transform.position); currentThreadJob = new DynamicPathThreadJob (startNode, PathPlanningDataStructures.graph.endNode, closedNodes, 15.0f, true); currentThreadJob.Start(); currentThreadJob.Join(); currentWayPoints = currentThreadJob.getPathWayPoints(); usesWaypoints = new bool[currentWayPoints.Count]; for (int i = 0; i < usesWaypoints.Length; i++) { usesWaypoints [i] = true; } closedNodes = currentThreadJob.getClosedNodes (); //indicate that next path segment needs to calculated jobInProgress = false; dynamicReplan = false; }
// <summary> // Performs path planning for the first path segment by utilizing a DynamicPathThreadJob // and waiting for it to complete // </summary> public void PathPlanInitialSegment() { //first triggered thread job for this car startNode = PathPlanningDataStructures.graph.getClosestNode(transform.position); currentThreadJob = new DynamicPathThreadJob(startNode, PathPlanningDataStructures.graph.endNode, closedNodes, 15.0f, true); currentThreadJob.Start(); currentThreadJob.Join(); currentWayPoints = currentThreadJob.getPathWayPoints(); usesWaypoints = new bool[currentWayPoints.Count]; for (int i = 0; i < usesWaypoints.Length; i++) { usesWaypoints [i] = true; } closedNodes = currentThreadJob.getClosedNodes(); //indicate that next path segment needs to calculated jobInProgress = false; dynamicReplan = false; }
//Determines the intial path segment for the car private void InitialPathPlan() { //first triggered thread job for this car startNode = PathPlanningDataStructures.graph.getClosestNode (transform.position); currentThreadJob = new DynamicPathThreadJob (startNode, PathPlanningDataStructures.graph.endNode); currentThreadJob.Start(); currentThreadJob.Join(); currentWayPoints = currentThreadJob.getPathWayPoints(); //indicate that next path segment needs to calculated pathCalculated = false; jobInProgress = false; }