public void RenderToLine(AccessibleLineRenderer lineRenderer, float lineWidth)
{
var args = new LineRenderArgs()
{
LineWidth = lineWidth,
StartDistance = 0.0f,
EndDistance = CalculateTotalDistance()
};
DrawDubin(lineRenderer, args);
}
public void RenderToLine(AccessibleLineRenderer lineRenderer, LineRenderArgs args)
{
DrawDubin(lineRenderer, args);
}
public void DrawDubin(AccessibleLineRenderer lineRenderer, LineRenderArgs args)
{
if (path == null || path.Count == 0)
{
//TEMP
lineRenderer.enabled = false;
return;
}
lineRenderer.UnderlyingLineRenderer.SetWidth(args.LineWidth, args.LineWidth);
//TEMP
if (lineRenderer.enabled == false)
{
lineRenderer.enabled = true;
}
Vector3 nextPos = Vector3.zero;
Vector3 nextDir;
int dubinIndex = path.Count - 1;
float totalLength = this.CalculateTotalDistance();
float pathDistance = 0.0f;
DubinCSC currentDubin = path[path.Count - 1];
// Figure out which Dubin in the list we should start on
for (int i = 0; i < path.Count; ++i)
{
pathDistance += path[i].totalLength;
if (args.StartDistance <= pathDistance)
{
currentDubin = path[i];
dubinIndex = i;
pathDistance -= path[i].totalLength;
break; //Found our dubin
}
}
const int numSegmentsPerDubin = 100;
int totalNumSegments = numSegmentsPerDubin * (path.Count - dubinIndex);
lineRenderer.SetVertexCount(totalNumSegments); //hackery
int idx = totalNumSegments - 1;
for (float distance = args.StartDistance; distance < args.EndDistance;)
{
float relativeDistanceStart = distance - pathDistance;
float relativeDistanceEnd = Mathf.Min(currentDubin.totalLength, args.EndDistance - pathDistance);
float distInc = Mathf.Ceil(currentDubin.totalLength / numSegmentsPerDubin);
for (float relativeDistance = relativeDistanceStart;
relativeDistance <= relativeDistanceEnd;
relativeDistance += distInc)
{
currentDubin.GetPositionAndHeadingFromDistance(relativeDistance, turnRadius, out nextPos, out nextDir);
nextPos.y += 1.0f;
lineRenderer.SetPosition(idx--, nextPos);
}
// ensure that the last spot is included
currentDubin.GetPositionAndHeadingFromDistance(relativeDistanceEnd, turnRadius, out nextPos, out nextDir);
nextPos.y += 1.0f;
lineRenderer.SetPosition(idx, nextPos);
distance += currentDubin.totalLength;
pathDistance += currentDubin.totalLength;
dubinIndex++;
if (dubinIndex >= path.Count)
{
break;
}
currentDubin = path[dubinIndex];
}
int badMath = 0;
//for (int i = idx; i < totalNumSegments; i++)
for (int i = idx; i >= 0; --i)
{
badMath++;
lineRenderer.SetPosition(i, nextPos);
}
// Debug.Log("BadMath: " + badMath);
}
