private void _addNewEmptyGlobalPathWayPointAtIndex(int i)
{
// we are statically allocating one grid waypoint as we are creating one corresponding grid navigation task which will watch it
globalPath.Add(new State());
globalPathPolygonIndices.Add(0); // adding dummy polygon index
offMeshLinkWayPoint.Add(false); // adding off mesh link state defaults to false
// creating the grid task
List <State> gridPath = new List <State> ();
localPaths.Add(gridPath);
State gridStartState = (i == 0) ? currentState : globalPath[i - 1];
// tunnel planner stuff
GridTimeDomain gridTimeDomain = new GridTimeDomain(neighborObstacles, neighborAgents);
List <State> spaceTimePath = new List <State> ();
spaceTimePaths.Add(spaceTimePath);
GridNavigationTask gridNavigationTask = new GridNavigationTask(gridStartState, globalPath[i], 2.5F, ref gridPath,
1.0f, 1.0f, ref spaceTimePath, gridTimeDomain,
TaskPriority.Inactive, taskManager);
gridNavigationTask.taskName = "gridNavigationTask:" + i.ToString();
globalPath[i].notifyObservers(Event.GOAL_INVALID); // currently the goal is invalid
gridNavigationTasks.Add(gridNavigationTask);
if (i == 0) // first grid navigation task
{
neighborAgents.observable.registerObserver(Event.NEIGBHOR_AGENTS_CHANGED, gridNavigationTask);
neighborObstacles.observable.registerObserver(Event.NEIGBHOR_DYNAMIC_OBSTACLES_CHANGED, gridNavigationTask);
gridNavigationTask.currentlyExecutingTask = true;
}
/*
* // creating the grid time task
* List<State> spaceTimePath = new List<State> ();
* spaceTimePaths.Add(spaceTimePath);
*
* GridTimeDomain gridTimeDomain = new GridTimeDomain (neigbhorObstacles);
* GridTimeTunnelNavigationTask tunnelNavigationTask =
* new GridTimeTunnelNavigationTask(gridStartState, globalPath[i], gridPath,1.0F,1.0F,ref gridTimeDomain, ref spaceTimePath, TaskPriority.Inactive,taskManager);
* tunnelNavigationTask.taskName = "tunnelNavigationTask" + i.ToString();
*
* // EVENT: gridNavigationTask will send Event.GRID_PATH_CHANGED to tunnelNavigationTask
* gridNavigationTask.registerObserver(Event.GRID_PATH_CHANGED,tunnelNavigationTask);
*/
}
private void _addNewEmptyGlobalPathWayPointAtIndex(int i)
{
// we are statically allocating one grid waypoint as we are creating one corresponding grid navigation task which will watch it
globalPath.Add(new State());
globalPathPolygonIndices.Add(0); // adding dummy polygon index
offMeshLinkWayPoint.Add(false); // adding off mesh link state defaults to false
// creating the grid task
List<State> gridPath = new List<State> ();
localPaths.Add(gridPath);
State gridStartState = (i == 0) ? currentState : globalPath[i-1];
// tunnel planner stuff
GridTimeDomain gridTimeDomain = new GridTimeDomain (neighborObstacles, neighborAgents);
List<State> spaceTimePath = new List<State> ();
spaceTimePaths.Add(spaceTimePath);
GridNavigationTask gridNavigationTask = new GridNavigationTask (gridStartState, globalPath[i],2.5F, ref gridPath,
1.0f, 1.0f, ref spaceTimePath, gridTimeDomain,
TaskPriority.Inactive, taskManager);
gridNavigationTask.taskName = "gridNavigationTask:" + i.ToString();
globalPath[i].notifyObservers(Event.GOAL_INVALID); // currently the goal is invalid
gridNavigationTasks.Add(gridNavigationTask);
if (i==0) // first grid navigation task
{
neighborAgents.observable.registerObserver(Event.NEIGBHOR_AGENTS_CHANGED, gridNavigationTask);
neighborObstacles.observable.registerObserver(Event.NEIGBHOR_DYNAMIC_OBSTACLES_CHANGED, gridNavigationTask);
gridNavigationTask.currentlyExecutingTask = true;
}
/*
// creating the grid time task
List<State> spaceTimePath = new List<State> ();
spaceTimePaths.Add(spaceTimePath);
GridTimeDomain gridTimeDomain = new GridTimeDomain (neigbhorObstacles);
GridTimeTunnelNavigationTask tunnelNavigationTask =
new GridTimeTunnelNavigationTask(gridStartState, globalPath[i], gridPath,1.0F,1.0F,ref gridTimeDomain, ref spaceTimePath, TaskPriority.Inactive,taskManager);
tunnelNavigationTask.taskName = "tunnelNavigationTask" + i.ToString();
// EVENT: gridNavigationTask will send Event.GRID_PATH_CHANGED to tunnelNavigationTask
gridNavigationTask.registerObserver(Event.GRID_PATH_CHANGED,tunnelNavigationTask);
*/
}
