// Start is called before the first frame update
void Start()
{
//initializing the terrain, getting the start and goal points
float posy = Terrain.activeTerrain.SampleHeight(new Vector3(stt.position.x, 0, stt.position.z));
st = new Vector3(stt.position.x, posy, stt.position.z);
float posyd = Terrain.activeTerrain.SampleHeight(new Vector3(got.position.x, 0, got.position.z));
go = new Vector3(got.position.x, posyd, got.position.z);
//finding terrain limits
terrainWidth = (int)moon.terrainData.size.x;
terrainLength = (int)moon.terrainData.size.z;
terrainPosX = (int)moon.transform.position.x;
terrainPosZ = (int)moon.transform.position.z;
planner = GetComponent <taskPlanner>();
//Creating a probability Road Map (PRM)
// adding start and goal to the PRM
Waypoint start = new Waypoint(0, st, 0, 0);
//PRM = new List<Vector3>();
PRM.Add(st);
PRM.Add(go);
// adding n random points to the PRM, basically dividing the map into very small grids
PRM.AddRange(sample_n(N, PRM));
Astar_init();
}
// Start is called before the first frame update
void Start()
{
//initializing the terrain, getting the start and goal points
float posy = Terrain.activeTerrain.SampleHeight(new Vector3(stt.position.x, 0, stt.position.z));
st = new Vector3(stt.position.x, posy, stt.position.z);
float posyd = Terrain.activeTerrain.SampleHeight(new Vector3(got.position.x, 0, got.position.z));
go = new Vector3(got.position.x, posyd, got.position.z);
//finding terrain limits
anchor = st;
terrainWidth = (int)moon.terrainData.size.x;
terrainLength = (int)moon.terrainData.size.z;
terrainPosX = (int)moon.transform.position.x;
terrainPosZ = (int)moon.transform.position.z;
planner = GetComponent <taskPlanner>();
//Creating a probability Road Map (PRM)
// adding start and goal to the PRM
Waypoint start = new Waypoint(0, st, 0, 0);
//PRM = new List<Vector3>();
PRM.Add(st);
PRM.Add(go);
// adding n random points to the PRM, basically dividing the map into very small grids
PRM.AddRange(sample_n(N, PRM));
//disp_cone(PRM, cone);
path = new List <Vector3>();
O = new List <node>();
C = new List <node>();
E = new List <Edge>();
limit = 100000;
ii = 0;
isComplete = false;
Destroy(destroy_later);
destroy_later = new GameObject();
posy = Terrain.activeTerrain.SampleHeight(new Vector3(stt.position.x, 0, stt.position.z));
st = new Vector3(stt.position.x, posy, stt.position.z);
float posyg = Terrain.activeTerrain.SampleHeight(new Vector3(got.position.x, 0, got.position.z));
go = new Vector3(got.position.x, posyg, got.position.z);
PRM.Add(st);
PRM.Add(go);
O.Add(new node(st, 0, 0, 0, 0));
var nbst = O[0];
}
// Start is called before the first frame update
void Start()
{
//initializing the terrain, getting the start and goal points
T = new List <node>();
float posy = Terrain.activeTerrain.SampleHeight(new Vector3(stt.position.x, 0, stt.position.z));
st = new Vector3(stt.position.x, posy, stt.position.z);
float posyg = Terrain.activeTerrain.SampleHeight(new Vector3(got.position.x, 0, got.position.z));
go = new Vector3(got.position.x, posyg, got.position.z);
T.Add(new node(st, h_scale * Vector3.Distance(st, go), 0, 0, 0));
E = new List <Edge>();
V = new List <Vector3>();
X_soln = new List <node>();
//finding terrain limits
terrainWidth = (int)moon.terrainData.size.x;
terrainLength = (int)moon.terrainData.size.z;
terrainPosX = (int)moon.transform.position.x;
terrainPosZ = (int)moon.transform.position.z;
V.Add(st);
planner = GetComponent <taskPlanner>();
//Creating a probability Road Map (PRM)
x_new = new node();
ii = 0;
// adding start and goal to the PRM
//Waypoint start = new Waypoint(0, st, 0, 0);
//PRM = new List<Vector3>();
//PRM.Add(st);
//PRM.Add(go);
path = new List <Vector3>();
// adding n random points to the PRM, basically dividing the map into very small grids
//PRM.AddRange(sample_n(N, PRM));
//Astar_init();
}
