//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);
}
private void inizializeTree(Vector3 dest)
{
tree = new rrTree(radius);
rrtNode node = new rrtNode(transform.position, null);
node.forward = transform.forward;
tree.addNode(node);
}
public ArrayList findBidirectionalPath(Vector3 source, Vector3 dest, int numPoints, int dim)
{
y = source.y;
rrTree treeForward = new rrTree();
rrtNode s = new rrtNode(source, null);
treeForward.addNode(s);
rrTree treeBackward = new rrTree();
rrtNode d = new rrtNode(dest, null);
treeBackward.addNode(d);
bool end = false;
createPoint(s.point);
createPoint(d.point);
// try to merge the two tree
ArrayList path = treeForward.Merge(treeBackward);
if (path != null)
{
return(path);
}
//ArrayList path2 = treeBackward.Merge (treeForward);
//if (path2 != null ) return path2;
for (int i = 0; i < numPoints && !end; i++)
{
//forward
if (addRandomNode(source, dest, treeForward, dim))
{
// try to merge the two tree
ArrayList path3 = treeForward.Merge(treeBackward);
if (path3 != null)
{
return(path3);
}
}
//backward
if (addRandomNode(dest, source, treeBackward, dim))
{
// try to merge the two tree
ArrayList path4 = treeBackward.Merge(treeForward);
if (path4 != null)
{
path4.Reverse(); return(path4);
}
}
}
return(null);
}
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 bool addRandomNode(rrTree tree, int dim)
{
Vector3 newPoint = new Vector3(myRnd(dim), y, myRnd(dim));
createPoint(newPoint);
rrtNode point = tree.findClosestNode(newPoint);
if (point != null && freePath(point.point, newPoint))
{
//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);
myDrawLine(point.point, newPoint, Color.blue);
return(true);
}
return(true);
}
private bool addRandomNode(rrTree tree, int dim)
{
Vector3 newPoint = new Vector3(myRnd(dim), y, myRnd(dim));
createPoint(newPoint);
rrtNode point = tree.findClosestNode(newPoint);
ArrayList carPath = freePath(point.point, newPoint, point.forward);
if (point != null && carPath.Count > 0)
{
//if it is possible to reach the point from the previous point
//add the connection
rrtNode p2 = new rrtNode(newPoint, point);
p2.forward = ((Vector3)carPath[carPath.Count - 1] - (Vector3)carPath[carPath.Count - 2]).normalized;
//point.addConnection(p2);
tree.addNode(p2);
myDrawLine(point.point, newPoint, Color.blue);
return(true);
}
return(true);
}
private bool addRandomNode(Vector3 source, Vector3 dest, rrTree tree, int dim)
{
//Vector3 newPoint = new Vector3 (myRnd (-dim, dim), 0, myRnd (-dim, dim));
//Vector3 newPoint = new Vector3 ( myRnd (tree.source.point.x, 1, dim), y, myRnd (tree.source.point.z, 1, dim));
Vector3 newPoint = myRndVector(source, dest, dim, 30f, 0.3f);
createPoint(newPoint);
Debug.Log("Rand point: " + newPoint);
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);
return(true);
}
return(true);
}
private void moveKinematic()
{
if (Input.GetMouseButtonDown(0))
{
destination = DirectionUtility.getMouseDirection();
destination.y = transform.position.y;
go = true;
calculating = true;
tree = new rrTree();
tree.addNode(new rrtNode(transform.position, null));
draw.clean();
}
else
{
if (go && path.Count > 0)
{
destination = (Vector3)path[path_index];
float d = Vector3.Distance(transform.position, destination);
if (d > 0.5)
{
Vector3 direction = (destination - transform.position).normalized;
DirectionUtility.makeKinematicMove(rigidbody, direction, speed);
}
else
{
rigidbody.velocity = Vector3.zero;
transform.position = destination;
path_index++;
if (path_index == path.Count)
{
go = false; path_index = 0;
}
}
}
}
}
