/* getNodeOnList returns node from list that contains a specified polygon
* Parameter: (AIPolygon) polygonToCheck is the polygon being held by the node to be returned
* Return: (AIAgentAStarSearchNode)
* node on list that is holding polygonToCheck
*/
public AIAgentAStarSearchNode getNodeOnList(AIPolygon polygonToCheck)
{
AIAgentAStarSearchNode tempFront = frontOfList;
if (tempFront == null)
{
return(null);
}
if (doesIDMatch(polygonToCheck.getID(), tempFront.getPolygon().getID()) == true)
{
return(tempFront);
}
AIAgentAStarSearchNode tempBack = tempFront.getNextNode();
while ((tempBack != null) && (tempBack.getNextNode() != null) && (doesIDMatch(polygonToCheck.getID(), tempBack.getPolygon().getID()) == false))
{
tempFront = tempBack;
tempBack = tempFront.getNextNode();
}
if (tempBack == null)
{
return(null);
}
if (doesIDMatch(polygonToCheck.getID(), tempBack.getPolygon().getID()) == true)
{
return(tempBack);
}
return(null);
}
/* addNode adds a node to this list in order according to its fTotalCost value
* Parameter: (AIPolygon) polygonToAdd is the polygon that will be held by the node
* (AIAgentAStarSearchNode) parentNodeToAdd is the parent of the node to be added
* (float) gCostToAdd is the getGFromStartingNode value to be stored in the node to be added
* Return: none
*/
public void addNode(AIPolygon polygonToAdd, AIAgentAStarSearchNode parentNodeToAdd, float gCostToAdd)
{
AIAgentAStarSearchNode newSearchNode = new AIAgentAStarSearchNode(polygonToAdd, parentNodeToAdd, gCostToAdd, goalPosition);
if (frontOfList == null)
{
newSearchNode.setNextNode(frontOfList);
frontOfList = newSearchNode;
numberOfNodesHeld++;
return;
}
AIAgentAStarSearchNode tempFront = frontOfList;
if (tempFront.compareTo(newSearchNode.getTotalCost()) > 0f)
{
newSearchNode.setNextNode(tempFront);
frontOfList = newSearchNode;
numberOfNodesHeld++;
return;
}
AIAgentAStarSearchNode tempBack = tempFront.getNextNode();
while (tempBack != null && tempBack.compareTo(newSearchNode.getTotalCost()) < 0f)
{
tempFront = tempBack;
tempBack = tempFront.getNextNode();
}
newSearchNode.setNextNode(tempFront.getNextNode());
tempFront.setNextNode(newSearchNode);
numberOfNodesHeld++;
}
/* deleteNodeOfId deletes the node from the list that is holding a polygon with a certain id
* Parameter: (int) idToDelete is the id of the polygon being held by the node to be deleted
* Return: none
*/
public void deleteNodeOfId(int idToDelete)
{
AIAgentAStarSearchNode tempFront = frontOfList;
if (frontOfList != null)
{
if (doesIDMatch(frontOfList.getPolygon().getID(), idToDelete) == true)
{
frontOfList = frontOfList.getNextNode();
numberOfNodesHeld--;
return;
}
AIAgentAStarSearchNode tempback = tempFront.getNextNode();
while ((tempback.getNextNode() != null) && (doesIDMatch(tempback.getPolygon().getID(), idToDelete) == false))
{
tempFront = tempback;
tempback = tempFront.getNextNode();
}
if (doesIDMatch(tempback.getPolygon().getID(), idToDelete) == true)
{
tempFront.setNextNode(tempback.getNextNode());
}
}
numberOfNodesHeld--;
}
/* popNode removes and returns the node at the front of the list (node with lowest fToatlCost value)
* Parameter: none
* Return: (AIAgentAStarSearchNode)
* node that was removed from the front of this list
*/
public AIAgentAStarSearchNode popNode()
{
if (frontOfList == null)
{
return(null);
}
AIAgentAStarSearchNode tempNode = frontOfList;
frontOfList = tempNode.getNextNode();
numberOfNodesHeld--;
return(tempNode);
}