private void executeSearchAlgorithm()
{
if (debugExpandedNodes && search.GetRunning() && !search.Finished())
{
//GridMap.instance.ColorNodes(search.GetVisitedNodes(), agentColor);//jncor
nodesExpanded = search.GetNumberOfNodesExpanded();
nodesVisited = search.GetNumberOfVisitedNodes();
pathCost = search.pathCost;
uniText.text = this.name + ": Searching... ";
uniText.text += "expanded: " + nodesExpanded + " visited: " + nodesVisited;
}
if (search.Finished() && !algorithmFinished)
{
//uniText.text = this.name + ": Moving... ";
nodesExpanded = search.GetNumberOfNodesExpanded();
nodesVisited = search.GetNumberOfVisitedNodes();
pathCost = search.pathCost;
if (path == null)
{
if (search.FoundPath())
{
path = search.RetracePath();
if (debugPath)
{
GridMap.instance.ColorNodes(path, agentColor);
}
}
else
{
algorithmFinished = true;
}
}
uniText.text = "D31 - Configuration Final Path Cost: " + TargetOptmisation.GetCost();
string temp = "";
foreach (GameObject obj in TargetOptmisation.GetBestSequenceFound())
{
temp += obj.name + ", ";
}
uniText.text += "\n" + temp;
if (targets.Count > 0)
{
if (moveToNext)
{
//// clear visited nodes
//if (debugExpandedNodes)
//{
// GridMap.instance.ClearColorNodes(search.GetVisitedNodes());
//}
//move to next target
GridMap.instance.ClearColorNode(GridMap.instance.NodeFromWorldPoint(search.targetPos));
UpdateStartTargetPositions();
search.StartRunning();
path = null;
currentCost = 0;
moveToNext = false;
isAtTarget = false;
}
}
}
if (!isMoving)
{
if (isAtTarget)
{
moveToNext = true;
}
}
}