/*
* AIBiDirectionalSearchOp's constructor will set up the initial values for the searchs
* Parameter: (Vector3)goalToAdd is the position of the goal in the scene
* (AIPolygon[])polygonArrayToAdd is the array that holds the polygons from the navigation mesh
*/
public AIBiDirectionalSearchOp(Vector3 goalToAdd, AIPolygon[] polygonArrayToAdd)
{
polygonArray = polygonArrayToAdd;
polygonFinalCount = 0;
maxQueueSize = 0;
nodesVisited = 0;
finalPathCost = 0f;
agentToGoal = new AIBiDirectionalAStarAgentOp(goalToAdd, polygonArray, false);
goalToAgent = new AIBiDirectionalAStarAgentOp(AINavigationMeshAgent.agentStart, polygonArray, true);
}
/*
* getPathFromBiDirectionAgent method will get the final path solution array from one of the searchs that was passed in
* Parameter: (AIBiDirectionalAStarAgentOp) agentThatFoundPath is the agent that has found the path to its goal
* Return: none
*/
void getPathFromBiDirectionAgent(AIBiDirectionalAStarAgentOp agentThatFoundPath)
{
finalSolutionArray = agentThatFoundPath.getFinalPath();
polygonFinalCount = agentThatFoundPath.getFinalPathLength();
for (int count = 1; count < finalSolutionArray.Length; count++)
{
finalPathCost += (finalSolutionArray [count].getCenterVector() - finalSolutionArray [count - 1].getCenterVector()).magnitude;
}
nodesVisited = agentThatFoundPath.getNodesVisited();
maxQueueSize = agentThatFoundPath.getMaxQueueSize();
}
