/*
* mergeWithNeighbors will attempt to to merge all the AIPolygons it can from its neighbor list
* Parameter: (AIPolygon)polygonToMerge is the polygon that is going to attempt to merge with
* neighbors
* return: None
*/
void mergeWithNeighbors(AIPolygon polygonToMerge)
{
if (polygonToMerge != null)
{
int[] neighborHolder = polygonToMerge.getNeighbors(); //array hold the indices for the neighbors of polygonToMerge
for (int count = 0; count < neighborHolder.Length; count++)
{
if (polygonArray [neighborHolder [count]] != null)
{
AIPolygon mergedPolygon = polygonArray [polygonToMerge.getID()].mergeRegular(polygonArray [neighborHolder [count]], polygonToMerge.getID()); // this will attempt to merge two polygons and create a new AIPolygon
if (mergedPolygon != null) //mergedPolygon will be null if the merge was not accepted
{
if (mergedPolygon.isPolygonConvex() == true) // this will check to see if the new AIPolygon is convex or not
{
mergeQueue.deleteNodeOfID(neighborHolder [count]); // delete the old polygon from the neighbor list
deleteNeighborAtIndex(polygonToMerge.getID());
deleteNeighborAtIndex(neighborHolder [count]);
polygonArray [polygonToMerge.getID()] = mergedPolygon; // add new Polygon to the polygonArray
polygonArray [neighborHolder [count]] = null; // remove the last polygon that was merged
checkAndAddNeighborAtIndex(polygonToMerge.getID()); //finds the neighbors of the new Polygon
mergeQueue.enqueue(mergedPolygon); // adds the new Polygon to the mergedQueue
return;
}
}
}
}
}
}
/* getNodeOnList returns node from list that contains a specified polygon
* Parameter: (AIPolygon) polygonToCheck is the polygon being held by the node to be returned
* Return: (AIAgentAStarSearchNode)
* node on list that is holding polygonToCheck
*/
public AIAgentAStarSearchNode getNodeOnList(AIPolygon polygonToCheck)
{
AIAgentAStarSearchNode tempFront = frontOfList;
if (tempFront == null)
{
return(null);
}
if (doesIDMatch(polygonToCheck.getID(), tempFront.getPolygon().getID()) == true)
{
return(tempFront);
}
AIAgentAStarSearchNode tempBack = tempFront.getNextNode();
while ((tempBack != null) && (tempBack.getNextNode() != null) && (doesIDMatch(polygonToCheck.getID(), tempBack.getPolygon().getID()) == false))
{
tempFront = tempBack;
tempBack = tempFront.getNextNode();
}
if (tempBack == null)
{
return(null);
}
if (doesIDMatch(polygonToCheck.getID(), tempBack.getPolygon().getID()) == true)
{
return(tempBack);
}
return(null);
}
/* addNode adds a node to this list in order according to its fTotalCost value
* Parameter: (AIPolygon) polygonToAdd is the polygon that will be held by the node
* (AIAgentAStarSearchNode) parentNodeToAdd is the parent of the node to be added
* (float) gCostToAdd is the getGFromStartingNode value to be stored in the node to be added
* Return: none
*/
public void addNode(AIPolygon polygonToAdd, AIAgentAStarSearchNode parentNodeToAdd, float gCostToAdd)
{
AIAgentAStarSearchNode newSearchNode = new AIAgentAStarSearchNode(polygonToAdd, parentNodeToAdd, gCostToAdd, goalPosition);
inList [polygonToAdd.getID()] = true;
indicesArray [polygonToAdd.getID()] = numberOfNodesHeld;
heap [numberOfNodesHeld] = newSearchNode;
shiftUp(numberOfNodesHeld);
numberOfNodesHeld++;
}
/*
* doesIDMatch will check to see if an ID being passed in matches the ID of the AIPolygon
* being held by this object
* Parameter: (int)idToCheck is the ID that the caller wants to check against the AIPolygon
* being held
* Return: (bool)
* false if the idToCheck does not match the ID of the AIPolygon being held
* true if the idToCheck matches the ID of the AIPolygon being held
*/
public bool doesIDMatch(int idToCheck)
{
if (idToCheck == polygon.getID())
{
return(true);
}
return(false);
}
/* addNode adds a node to this list in order according to its fTotalCost value
* Parameter: (AIPolygon) polygonToAdd is the polygon that will be held by the node
* (AIAgentAStarSearchNode) parentNodeToAdd is the parent of the node to be added
* (float) gCostToAdd is the getGFromStartingNode value to be stored in the node to be added
* Return: none
*/
public void addNode(AIPolygon polygonToAdd, AIDynamicWeightedSearchNode parentNodeToAdd, float gCostToAdd)
{
AIDynamicWeightedSearchNode newSearchNode;
if (numberOfNodesHeld == 0)
{
newSearchNode = new AIDynamicWeightedSearchNode(polygonToAdd, parentNodeToAdd, gCostToAdd, goalPosition, AIDynamicWeightedSearch.startingH, 1);
}
else
{
newSearchNode = new AIDynamicWeightedSearchNode(polygonToAdd, parentNodeToAdd, gCostToAdd, goalPosition, AIDynamicWeightedSearch.startingH, (parentNodeToAdd.getDoFN() + 1));
}
inList [polygonToAdd.getID()] = true;
indicesArray [polygonToAdd.getID()] = numberOfNodesHeld;
heap [numberOfNodesHeld] = newSearchNode;
shiftUp(numberOfNodesHeld);
numberOfNodesHeld++;
}
/*
* getFinalPathStartingWithNodes method will return a final path array that starts the the node
* containing the polygon being sent in
* Parameter: (AIPolygon) polygonToStartWith is the polygon that is in the node the caller wants the
* final path array to start with
* Return: (AIPolygon[])
* the final path array starting with the node containing the polygon being passed in
*/
public AIPolygon[] getFinalPathStartingWithNode(AIPolygon polygonToStartWith)
{
AIAgentAStarSearchNode tempNode = closedList[polygonToStartWith.getID()];
if (tempNode == null)
{
return(null);
}
finalSolutionStart = tempNode;
return(getFinalPath());
}
/* getNodeOnList returns node from list that contains a specified polygon
* Parameter: (AIPolygon) polygonToCheck is the polygon being held by the node to be returned
* Return: (AIAgentAStarSearchNode)
* node on list that is holding polygonToCheck
*/
public AIAgentAStarSearchNode getNodeOnList(AIPolygon polygonToCheck)
{
return(heap [indicesArray [polygonToCheck.getID()]]);
}
/* isNodeOnList checks to see if node containing a certain polygon is on the list
* Parameter: (AIPolygon) polygon whose id will be used to check if a certain node is on list
* Return: (bool)
* true if a node is on the list that contains polygonToCheck
* false if no node on the list contains polygonToCheck
*/
public bool isNodeOnList(AIPolygon polygonToCheck)
{
return(inList [polygonToCheck.getID()]);
}
/* getNodeOnList returns node from list that contains a specified polygon
* Parameter: (AIPolygon) polygonToCheck is the polygon being held by the node to be returned
* Return: (AIAgentAStarSearchNode)
* node on list that is holding polygonToCheck
*/
public AIDynBiDirOpNode getNodeOnList(AIPolygon polygonToCheck)
{
return(heap [indicesArray [polygonToCheck.getID()]]);
}
/* getNodeOnList returns node from list that contains a specified polygon
* Parameter: (AIPolygon) polygonToCheck is the polygon being held by the node to be returned
* Return: (AIDynamicWeightedSearchNode)
* node on list that is holding polygonToCheck
*/
public AIDynamicWeightedSearchNode getNodeOnList(AIPolygon polygonToCheck)
{
return(heap [indicesArray [polygonToCheck.getID()]]);
}
