public List <Vector3> GetPath(Vector2 start_, Vector2 goal_)
{
pathPlanner.PathplannerParameter param = new pathPlanner.PathplannerParameter();
param.startNode = pathplannerMap.GetNodeByIndex((int)start_.x, (int)start_.y);
param.goalNode = pathplannerMap.GetNodeByIndex((int)goal_.x, (int)goal_.y);
Array <object> nodes = pathfinder.FindPath(param);
List <Vector3> path = new List <Vector3>();
for (int i = 0; i < nodes.length; ++i)
{
Position pos = ((Node)nodes[i]).GetPosition();
path.Add(new Vector3(pos.GetX(), 0, pos.GetY()));// y has no effect
}
return(path);
}
public pathPlanner.GraphGridMap LoadMap(string filePath_)
{
string[] fin = ReadLines(filePath_);
int height = int.Parse(fin[1].Split(' ')[1]);
int width = int.Parse(fin[2].Split(' ')[1]);
pathPlanner.GraphGridMap map = new pathPlanner.GraphGridMap(width, height);
for (int y = 4; y < fin.Length; ++y)
{
for (int x = 0; x < width; ++x)
{
char value = fin[y][x];
switch (value)
{
case '.':
case 'G':
case 'S':
map.GetNodeByIndex(x, y - 4).SetTraversable(true);
break;
case '@':
case 'O':
case 'W':
case 'T':
map.GetNodeByIndex(x, y - 4).SetTraversable(false);
break;
default:
Debug.Log("something went wrong in loading map: " + filePath_ + " : " + value);
break;
}
}
}
return(map);
}
