//One path CCC
void Get_CCC_Length(Vector3 startCircle, Vector3 goalCircle, bool isRightToRight, OneReedsSheppPath pathData)
{
//Find both tangent positions and the position of the 3rd circles
reedsSheppMath.Get_CCC_Tangents(
startCircle,
goalCircle,
isRightToRight,
pathData);
//Calculate the total length of this path
float length1 = reedsSheppMath.GetArcLength(
startCircle,
startPos,
pathData.startTangent,
pathData.segmentsList[0]);
float length2 = reedsSheppMath.GetArcLength(
pathData.middleCircleCoordinate,
pathData.startTangent,
pathData.goalTangent,
pathData.segmentsList[1]);
float length3 = reedsSheppMath.GetArcLength(
goalCircle,
pathData.goalTangent,
goalPos,
pathData.segmentsList[2]);
//Save the data
pathData.AddPathLengths(length1, length2, length3);
//Add the path to the collection of all paths
allReedsSheppPaths.Add(pathData);
}
//One path CC turn CC
void Get_CC_turn_CC_Length(Vector3 startCircle, Vector3 goalCircle, bool isBottom, OneReedsSheppPath pathData)
{
//Find the 3 tangent points and the 2 middle circle positions
reedsSheppMath.CC_turn_CC(
startCircle,
goalCircle,
isBottom,
pathData);
//Calculate the total length of each path
float length1 = reedsSheppMath.GetArcLength(
startCircle,
startPos,
pathData.startTangent,
pathData.segmentsList[0]);
float length2 = reedsSheppMath.GetArcLength(
pathData.middleCircleCoordinate,
pathData.startTangent,
pathData.middleTangent,
pathData.segmentsList[1]);
float length3 = reedsSheppMath.GetArcLength(
pathData.middleCircleCoordinate2,
pathData.middleTangent,
pathData.goalTangent,
pathData.segmentsList[2]);
float length4 = reedsSheppMath.GetArcLength(
goalCircle,
pathData.goalTangent,
goalPos,
pathData.segmentsList[3]);
//Save the lengths
pathData.AddPathLengths(length1, length2, length3, length4);
//Add the final path
allReedsSheppPaths.Add(pathData);
}
//One path CSC
void Get_CSC_Length(
Vector3 startCircle,
Vector3 goalCircle,
bool isOuterTangent,
bool isBottomTangent,
OneReedsSheppPath pathData)
{
//Find both tangent positions
if (isOuterTangent)
{
reedsSheppMath.LSLorRSR(startCircle, goalCircle, isBottomTangent, pathData);
}
else
{
reedsSheppMath.RSLorLSR(startCircle, goalCircle, isBottomTangent, pathData);
}
//Calculate the total length of this path
float length1 = reedsSheppMath.GetArcLength(
startCircle,
startPos,
pathData.startTangent,
pathData.segmentsList[0]);
float length2 = (pathData.startTangent - pathData.goalTangent).magnitude;
float length3 = reedsSheppMath.GetArcLength(
goalCircle,
pathData.goalTangent,
goalPos,
pathData.segmentsList[2]);
//Save the data
pathData.AddPathLengths(length1, length2, length3);
//Add the path to the collection of all paths
allReedsSheppPaths.Add(pathData);
}
