/*
* searchStart method will begin the search by first setting the first node in the open list, which holds the
* polygon that has the agent GameObject in it, then it will call the functions to do the search, build the
* finalSolution array, and set the wayPoints
* Parameters: none
* Return: none
*/
public void startSearch()
{
openList = new AIAgentAStarSearchListOp(goalPosition, polygonArray.Length);
for (int count = 0; count < polygonArray.Length; count++) // looks for the polygon with the agent GameObject inside it
{
if (polygonArray [count].getHasAgent() == true && polygonArray[count].getAgentID() == 1)
{
openList.addNode(polygonArray [count], null, 0); //adds the first polygon to the openList
count = polygonArray.Length;
}
}
AStarSearch(); //does the AStar search
printFinalSolution(); //prints the finalSolution for debugging
addFinalSolutionPolygons(); //adds the finalsolution to the finalsolution array
}
/*
* AIBiDirectionalAStartAgentOp's constructor will set up the initial values for instance variables
* Parameters: (Vector3)goalPositionToAdd is the position that the goal this search is looking for is at
* (AIPolygon[])polygonsToAdd is the array of polygons that it will search through
* (bool)isBackwardsToAdd is the bool to tell if this search is going from the goal or from the agent
*/
public AIBiDirectionalAStarAgentOp(Vector3 goalPositionToAdd, AIPolygon[] polygonsToAdd, bool isBackwardsToAdd)
{
polygonArray = polygonsToAdd;
goalPosition = goalPositionToAdd;
isBackwards = isBackwardsToAdd;
polygonFinalCount = 0;
maxQueueSize = 0;
nodesVisited = 0;
openList = new AIAgentAStarSearchListOp(goalPosition, polygonArray.Length);
closedList = new AIAgentAStarSearchNode[polygonArray.Length];
for (int count = 0; count < polygonArray.Length; count++)
{
closedList [count] = null;
}
if (isBackwards == true) //going from the goal
{
for (int count = 0; count < polygonArray.Length; count++) // looks for the polygon with the agent GameObject inside it
{
if (polygonArray [count].getHasGoal() == true)
{
openList.addNode(polygonArray [count], null, 0); //adds the first polygon to the openList
count = polygonArray.Length;
}
}
}
else //going from the agent
{
for (int count = 0; count < polygonArray.Length; count++) // looks for the polygon with the agent GameObject inside it
{
if (polygonArray [count].getHasAgent() == true)
{
openList.addNode(polygonArray [count], null, 0); //adds the first polygon to the openList
count = polygonArray.Length;
}
}
}
gCost = 0f;
}