//Try to merge the last node of the tree with the first possible node of the OTHER tree
public ArrayList Merge(rrTree other)
{
ArrayList nodeList = other.nodes;
bool find = false;
rrtNode conn = null;
foreach (rrtNode checkNode in nodeList)
{
if (freePath(last, checkNode))
{
conn = checkNode;
find = true;
break;
}
}
if (!find)
{
return(null);
}
ArrayList fwdPath = getPath();
ArrayList bwdPath = other.getPath(conn);
bwdPath.Reverse();
foreach (Vector3 v in bwdPath)
{
fwdPath.Add(v);
}
return(fwdPath);
}
public ArrayList findPath(Vector3 source, Vector3 dest, int numPoints, int dim)
{
rrTree tree = new rrTree();
rrtNode s = new rrtNode(source, null);
bool end = false;
tree.addNode(s);
rrtNode lastPoint = s;
bool doCheck = true;
for (int i = 0; i < numPoints && !end; i++)
{
if (doCheck)
{
if (freePath(lastPoint.point, dest))
{
rrtNode d = new rrtNode(dest, lastPoint);
lastPoint.addConnection(d);
tree.addNode(d);
//Debug.Log ("Point: "+point.point);
end = true;
}
}
if (!end)
{
//pick up a random point
//Vector3 newPoint = new Vector3 (myRnd (-dim, dim), 0, myRnd (-dim, dim));
//Vector3 newPoint = new Vector3 ( myRnd (s.point.x, 1, dim), y, myRnd (s.point.z, 1, dim));
Vector3 newPoint = myRndVector(source, dest, dim, 30f, 0.3f);
rrtNode point = tree.findClosestNode(newPoint);
if (point != null && freePath(newPoint, point.point))
{
//if it is possible to reach the point from the previous point
//add the connection
rrtNode p2 = new rrtNode(newPoint, point);
point.addConnection(p2);
tree.addNode(p2);
//from the next iteration consider the new point
lastPoint = p2;
createPoint(p2.point);
doCheck = true;
}
//else doCheck = false;
}
}
return(tree.getPath());
}
private void RRT()
{
if (tree.getCount() > numPoints)
{
calculating = false;
return;
}
if (freePath(tree.last.point, destination))
{
Debug.DrawLine(tree.last.point, destination, Color.blue, timeDebug, false);
rrtNode d = new rrtNode(destination, tree.last);
tree.last.addConnection(d);
tree.addNode(d);
calculating = false;
path = rrTree.optimizePath(tree.getPath());
printPath(path);
}
else
{
addRandomNode(tree, dim);
}
}
