/*
* getPathStartingWithForward method gets the final path from the agent to the connecting node found by the
* search from the agent to the goal then gets the final path for the goal
* Parameter: none
* Return: none
*/
void getPathStartingWithForward()
{
AIPolygon[] frontPath = agentToGoal.getFinalPath();
if (frontPath == null)
{
return;
}
AIPolygon[] backPath = goalToAgent.getFinalPathStartingWithNode(agentToGoal.getFinalPathStart());
finalSolutionArray = new AIPolygon[frontPath.Length + backPath.Length - 1];
int finalSolutionCounter = 0;
for (int count = 0; count < frontPath.Length; count++, finalSolutionCounter++)
{
if (frontPath[count] != null)
{
finalSolutionArray [finalSolutionCounter] = frontPath [count];
}
}
for (int count = 1; count < backPath.Length; count++, finalSolutionCounter++)
{
if (backPath[count] != null)
{
finalSolutionArray [finalSolutionCounter] = backPath [count];
}
}
}
/*
* getPathFromBiDirectionAgent method will get the final path solution array from one of the searchs that was passed in
* Parameter: (AIDynBiDirBeamOpAgent) agentThatFoundPath is the agent that has found the path to its goal
* Return: none
*/
void getPathFromBiDirectionAgent(AIDynBiDirBeamOpAgent 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();
}