/*
* fringeSearch method will preform the fringe search
* Parameter: none
* Return: none
*/
void fringeSearch()
{
AIFringeSearchNode tempNode = fringeList.getNodeOnList(startingPolygon); // the first polygon in the list
fLimit = tempNode.getHCost(); //the first limit
AIFringeSearchList curList = fringeList; //the current list that will be looked at
AIFringeSearchList nextList = new AIFringeSearchList(goalPosition); //the list that the not good polygons will be put into
while (goalFound == false && (curList.isEmpty() == false || nextList.isEmpty() == false))
{
fMin = float.MaxValue; //reset the fMin
firstMin = false; //reset the firstMin
while (curList.isEmpty() == false) //goes until the current list is empty
{
tempNode = curList.popNode();
nodesVisited++;
if (tempNode.getTotalCost() > fLimit) // the node is no good and the limit must be incresed
{
fMin = getMin(tempNode.getTotalCost(), fMin);
nextList.pushAtTheEnd(tempNode); //adds the node at the end of the nextList
continue;
}
if (tempNode.getPolygon().getHasGoal() == true) //goal node was found
{
finalSolutionStart = tempNode;
return;
}
for (int count = tempNode.getPolygon().getNeighborsHeld() - 1; count >= 0; count--)
{
AIFringeSearchNode childNode = new AIFringeSearchNode(polygonArray[tempNode.getPolygon().getNeighborAt(count)], tempNode, (tempNode.getGFromStartNode() + (tempNode.getPolygon().getCenterVector() - polygonArray[tempNode.getPolygon().getNeighborAt(count)].getCenterVector()).magnitude), goalPosition);
if (tempNode.getParentNode() == null || tempNode.getParentNode().getPolygon().getID() != childNode.getPolygon().getID()) //checks to see if the parentNode is the child node trying to be added in
{
if (cache[tempNode.getPolygon().getNeighborAt(count)] != null) //checks to see if the polygon has already been seen
{
if (childNode.getGFromStartNode() >= cache[tempNode.getPolygon().getNeighborAt(count)].getGFromStartNode())
{
continue;
}
}
if (curList.isNodeOnList(childNode.getPolygon()) == true) //checks to see if the polygon is already on the list
{
curList.deleteNodeOfId(childNode.getPolygon().getID()); //deletes the node
}
curList.enqueue(childNode.getPolygon(), childNode.getParentNode(), childNode.getGFromStartNode()); //adds the node at the front of the current list
cache[tempNode.getPolygon().getNeighborAt(count)] = childNode;
}
}
if (curList.getSize() > maxQueueSize)
{
maxQueueSize = curList.getSize();
}
}
fLimit = fMin; //sets the new Min
AIFringeSearchList tempList = curList;
curList = nextList;
nextList = tempList;
}
}
//used for debugging
void printFinalSolutionRecursively(AIFringeSearchNode currentNode)
{
if (currentNode != null)
{
printFinalSolutionRecursively(currentNode.getParentNode());
polygonFinalCount++;
}
}
/*
* addFinalsolutionPolygons method is a recusive method that will look at the parent of each node passed in until
* the node passed in is null, then it will add each Node's polygon to the finalSolutionArray in order
* from start until end
* Parameter: (AIFringeSearchNode)currentNode is the node that needs to be checked and then have its parent passed
* (ref int)counter is the current count of polygons in the FinalSolution array used to access the next index
* Return: none
*/
void addFinalSolutionPolygons(AIFringeSearchNode currentNode, ref int counter)
{
if (currentNode != null)
{
addFinalSolutionPolygons(currentNode.getParentNode(), ref counter);
finalSolutionArray [counter] = currentNode.getPolygon();
if (counter != 0)
{
finalPathCost += (finalSolutionArray[counter].getCenterVector() - finalSolutionArray[counter - 1].getCenterVector()).magnitude;
}
counter++;
}
}