/* updateNode updates the parent of a node and the gFromStartingNodeCost of a node
* Parameter: (AIDynamicWeightedSearchNode) nodeToUpdate is the node to be updated
* (AIDynamicWeightedSearchNode) newParentNode is the new parent of the node to be updated
* (float) newCost is the new gFromStartingNodeCost of the node to be updated
* Return: none
*/
public void updateNode(AIDynamicWeightedSearchNode nodeToUpdate, AIDynamicWeightedSearchNode newParentNode, float newCost)
{
AIPolygon temp = nodeToUpdate.getPolygon();
deleteNodeOfId(nodeToUpdate.getPolygon().getID());
addNode(temp, newParentNode, newCost);
}
/*
* addFinalsolutionPolygons method is a recusive method that will look at the parent of each node passed in until
* the node passed in is null, then it will add each Node's polygon to the finalSolutionArray in order
* from start until end
* Parameter: (AIAgentAStarSearchNode)currentNode is the node that needs to be checked and then have its parent passed
* (ref int)counter is the current count of polygons in the FinalSolution array used to access the next index
* Return: none
*/
void addFinalSolutionPolygons(AIDynamicWeightedSearchNode currentNode, ref int counter)
{
if (currentNode != null)
{
addFinalSolutionPolygons(currentNode.getParentNode(), ref counter);
finalSolutionArray [counter] = currentNode.getPolygon();
if (counter != 0)
{
finalPathCost += (finalSolutionArray[counter].getCenterVector() - finalSolutionArray[counter - 1].getCenterVector()).magnitude;
}
counter++;
}
}
/* popNode removes and returns the node at the front of the list (node with lowest fToatlCost value)
* Parameter: none
* Return: (AIDynamicWeightedSearchNode)
* node that was removed from the front of this list
*/
public AIDynamicWeightedSearchNode popNode()
{
if (numberOfNodesHeld == 0)
{
return(null);
}
AIDynamicWeightedSearchNode tempNode = heap [0];
indicesArray [tempNode.getPolygon().getID()] = -1;
numberOfNodesHeld--;
heap [0] = heap [numberOfNodesHeld];
indicesArray [heap [0].getPolygon().getID()] = 0;
if (numberOfNodesHeld > 0)
{
shiftDown(0);
}
return(tempNode);
}