// Use this for initialization
void Start()
{
search = GetSearchAlgorithm();
TestWriter.Start(SceneManager.GetActiveScene().name + "_" + search.getName() + ".csv");
targets = GetAllTargets();
targets.Sort(GridMap.SortByName);
UpdateStartTargetPositions();
Node start_pos = GridMap.instance.NodeFromWorldPoint(transform.position);
transform.position = start_pos.worldPosition + new Vector3(0f, 1f, 0f);
currentCost = 0;
moveToNext = false;
isMoving = false;
isDead = false;
isAtTarget = false;
currentForce = totalEnergy;
currentEnergyExpanded = totalEnergy;
updateEnergyExpandedInterval = Mathf.Max(Mathf.RoundToInt(search.GetMaxNumberOfExpandedNodes() / totalEnergy), 1);
updateForceInterval = Mathf.Max(Mathf.RoundToInt(search.GetListSizeLimit() / (ulong)totalEnergy), 1);
UpdateEnergyBars(healthForce, (int)currentForce, Color.blue);
UpdateEnergyBars(healthExpandedBar, (int)currentEnergyExpanded, Color.yellow);
gameObject.GetComponent <Renderer> ().material.color = agentColor;
}