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Waypoints

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This commit is contained in:
Frank
2020-07-22 01:05:24 +02:00
parent af023c1994
commit ec809085b4
4 changed files with 53 additions and 39 deletions
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30
Moose Development/Moose/Core/Astar.lua
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@@ -141,22 +141,30 @@ end
-- @param #ASTAR.Node nodeB
function ASTAR.LoS(nodeA, nodeB)
local los=nodeA.coordinate:IsLOS(nodeB.coordinate, 0.5)
local offset=0.1
local dx=200
local dy=dx
local cA=nodeA.coordinate:SetAltitude(0, true)
local cB=nodeB.coordinate:SetAltitude(0, true)
local los=cA:IsLOS(cB, offset)
if los then
local heading=nodeA.coordinate:HeadingTo(nodeB.coordinate)
local heading=cA:HeadingTo(cB)
local Ap=nodeA.coordinate:Translate(100, heading+90)
local Bp=nodeA.coordinate:Translate(100, heading+90)
local Ap=cA:Translate(dx, heading+90)
local Bp=cB:Translate(dx, heading+90)
los=Ap:IsLOS(Bp, 0.5)
los=Ap:IsLOS(Bp, offset)
if los then
local Am=nodeA.coordinate:Translate(100, heading-90)
local Bm=nodeA.coordinate:Translate(100, heading-90)
local Am=cA:Translate(dy, heading-90)
local Bm=cB:Translate(dy, heading-90)
los=Am:IsLOS(Bm, 0.5)
los=Am:IsLOS(Bm, offset)
end
end
@@ -170,8 +178,9 @@ end
--- Find the closest node from a given coordinate.
-- @param #ASTAR self
-- @param Core.Point#COORDINATE Coordinate.
-- @return #ASTAR.Node Cloest node to the coordinate.
-- @param #number DeltaX Increment in the direction of start to end coordinate in meters. Default 2000 meters.
-- @param #number DeltaY Increment perpendicular to the direction of start to end coordinate in meters. Default is same as DeltaX.
-- @return #ASTAR self
function ASTAR:CreateGrid()
local Dx=20000
@@ -218,6 +227,7 @@ function ASTAR:CreateGrid()
end
env.info("FF Done building grid!")
return self
end
--- Find the closest node from a given coordinate.