public override void generateTransitions(ref DefaultState currentState, ref DefaultState previousState, ref DefaultState idealGoalState, ref List <DefaultAction> transitions)
{
transitions.Clear();
ARAstarState ACurrentState = currentState as ARAstarState;
bool[] transitionsPossible = new bool[8];
// doing non-diagonals first
for (int i = 0; i < transitionsList.Count; i += 2)
{
Collider [] colliders = Physics.OverlapSphere(ACurrentState.state + transitionsList[i], 0.25F, layer);
//if (! Physics.CheckSphere(ACurrentState.state + transitionsList[i],0.5F,layer))
if (colliders.Count() == 0)
{
transitionsPossible[i] = true;
ARAstarAction action = new ARAstarAction();
action.cost = Vector3.Distance(ACurrentState.state, ACurrentState.state + transitionsList[i]);
action.direction = transitionsList[i];
ARAstarState st = new ARAstarState(ACurrentState.state + transitionsList[i]);
action.state = st;
transitions.Add(action);
}
else
{
transitionsPossible[i] = false;
// TODO: register the non deterministic obstacle here
foreach (Collider collider in colliders)
{
NonDeterministicObstacle nonDeterministicObstacle = collider.GetComponent <NonDeterministicObstacle>();
if (nonDeterministicObstacle == null)
{
} // Debug.LogWarning("planner collided with something that is not a non deterministic obtacle " + collider.name) ;
else
{
if (planningTask != null &&
_currentObservedNonDeterministicObstacles.Contains(nonDeterministicObstacle) == false) // not using a planning task, no need to register
{
Debug.LogError("NON DET OBSTACLE " + collider.name);
//nonDeterministicObstacle.observable.registerObserver(Event.NON_DETERMINISTIC_OBSTACLE_CHANGED,planningTask);
_currentObservedNonDeterministicObstacles.Add(nonDeterministicObstacle);
}
}
}
}
}
// diagonals
for (int i = 1; i < transitionsList.Count; i += 2)
{
Collider [] colliders = Physics.OverlapSphere(ACurrentState.state + transitionsList[i], 0.25F, layer);
//if (! Physics.CheckSphere(ACurrentState.state + transitionsList[i],0.5F,layer))
if (colliders.Count() == 0)
{
if (transitionsPossible[i - 1] == true || transitionsPossible[(i + 1) % transitionsList.Count] == true)
{
transitionsPossible[i] = true;
ARAstarAction action = new ARAstarAction();
action.cost = Vector3.Distance(ACurrentState.state, ACurrentState.state + transitionsList[i]);
action.direction = transitionsList[i];
ARAstarState st = new ARAstarState(ACurrentState.state + transitionsList[i]);
action.state = st;
transitions.Add(action);
}
else
{
transitionsPossible[i] = false;
}
}
else
{
transitionsPossible[i] = false;
// TODO: register the non deterministic obstacle here
foreach (Collider collider in colliders)
{
NonDeterministicObstacle nonDeterministicObstacle = collider.GetComponent <NonDeterministicObstacle>();
if (nonDeterministicObstacle == null)
{
} // Debug.LogWarning("planner collided with something that is not a non deterministic obtacle " + collider.name);
else
{
if (planningTask != null &&
_currentObservedNonDeterministicObstacles.Contains(nonDeterministicObstacle) == false) // not using a planning task, no need to register
{
Debug.Log("NON DET OBSTACLE " + collider.name);
//nonDeterministicObstacle.observable.registerObserver(Event.NON_DETERMINISTIC_OBSTACLE_CHANGED,planningTask);
_currentObservedNonDeterministicObstacles.Add(nonDeterministicObstacle);
}
}
}
}
}
}
public static uint UpdatePolygonDictionary(Vector3 currentPosition, uint currentPolygonIndex, NonDeterministicObstacle nonDeterministicObstacle)
{
uint newPolygonIndex = GlobalNavigator.recastSteeringManager.GetClosestPolygon(currentPosition);
if (newPolygonIndex != currentPolygonIndex)
{
GlobalNavigator.recastSteeringManager.DecrNumObjectsInPolygon(currentPolygonIndex);
GlobalNavigator.recastSteeringManager.IncrNumObjectsInPolygon(newPolygonIndex);
if (polygonDictionary.ContainsKey(currentPolygonIndex))
{
_IncrementNumberOfChangesInPolygon(currentPolygonIndex);
if (nonDeterministicObstacle != null)
{
polygonDictionary[currentPolygonIndex].nonDeterministicObstacles.Remove(nonDeterministicObstacle);
}
}
if (polygonDictionary.ContainsKey(newPolygonIndex))
{
_IncrementNumberOfChangesInPolygon(newPolygonIndex);
if (nonDeterministicObstacle != null)
{
polygonDictionary[newPolygonIndex].nonDeterministicObstacles.Add(nonDeterministicObstacle);
}
}
}
return(newPolygonIndex);
}
