//Get one Reeds-Shepp path and display it
private void GetOnePath()
{
//Deactivate all line renderers
DeactivateAllLineRenderers();
//Get one path
Vector3 startPos = startCarObj.transform.position;
float startHeading = startCarObj.transform.eulerAngles.y * Mathf.Deg2Rad;
Vector3 goalPos = goalCarObj.transform.position;
float goalHeading = goalCarObj.transform.eulerAngles.y * Mathf.Deg2Rad;
OneReedsSheppPath oneReedsSheppPath = generateReedsShepp.GetOneReedSheppPath(startPos, startHeading, goalPos, goalHeading);
if (oneReedsSheppPath != null && oneReedsSheppPath.pathCoordinates.Count > 0)
{
//Display the path with a line renderer
DisplayOneReedsSheppPath(oneReedsSheppPath.pathCoordinates);
//Display the tangent spheres
//DisplayTangentSpheres(oneReedsSheppPath);
}
}
//Get the shortest Reeds-Shepp path and display it
private void DisplayShortestPath(Transform startCarTrans, Transform goalCarTrans)
{
Vector3 startPos = startCarTrans.position;
float startHeading = startCarTrans.eulerAngles.y * Mathf.Deg2Rad;
Vector3 goalPos = goalCarTrans.position;
float goalHeading = goalCarTrans.eulerAngles.y * Mathf.Deg2Rad;
//Get the path
OneReedsSheppPath oneReedsSheppPath = generateReedsShepp.GetOneReedSheppPath(startPos, startHeading, goalPos, goalHeading);
//If we found a path
if (oneReedsSheppPath != null && oneReedsSheppPath.pathCoordinates.Count > 0)
{
//Display the path with line renderers
//DisplayPath(oneReedsSheppPath.pathCoordinates);
}
}