/*
* 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();
}
/*
* getPathFromBothBiDirectionAgents method will get the final path from the two searchs depending on what agent
* found the connecting path
* Parameter: (bool)isStartBackwards tells which search found the path
* Return: none
*/
void getPathFromBothBiDirectionAgents(bool isStartBackwards)
{
if (isStartBackwards == false) //starting from search from the agent to the goal
{
getPathStartingWithForward();
}
else //starting from the search fromt the goal to the agent
{
getPathStartingWithbackwards();
}
polygonFinalCount = agentToGoal.getFinalPathLength() + goalToAgent.getFinalPathLength() - 1;
for (int count = 1; count < finalSolutionArray.Length; count++)
{
finalPathCost += (finalSolutionArray [count].getCenterVector() - finalSolutionArray [count - 1].getCenterVector()).magnitude;
}
nodesVisited = agentToGoal.getNodesVisited() + goalToAgent.getNodesVisited();
maxQueueSize = agentToGoal.getMaxQueueSize() + goalToAgent.getMaxQueueSize();
}