private void Start()
{
// get the drone controller
m_Drone = GetComponent <DroneController>();
friends = GameObject.FindGameObjectsWithTag("Drone");
myIndex = -1;
for (int idx = 0; idx < friends.Length; idx++)
{
if (friends[idx].transform == m_Drone.transform)
{
myIndex = idx;
break;
}
}
terrain_manager = terrain_manager_game_object.GetComponent <TerrainManager>();
tInfo = terrain_manager.myInfo;
Vector3 start_pos = m_Drone.transform.position;
Vector3 goal_pos = my_goal_object.transform.position;
mHighResMap = new HighResMap(ref tInfo, 1);
AStar aster = new AStar(ref mHighResMap);
int i = mHighResMap.get_i_index(transform.position.x);
int j = mHighResMap.get_j_index(transform.position.z);
int iEnd = mHighResMap.get_i_index(goal_pos.x);
int jEnd = mHighResMap.get_j_index(goal_pos.z);
tPath = aster.ComputePath(i, j, iEnd, jEnd);
mDecision = new DroneDecisionSimple(ref m_Drone, ref friends, ref mHighResMap, tPath);
//status init
ifMoveable = false;
ifFinished = false;
}