/* calculateCost calculates a new fTotalCost value for this node using the dynamic weighting
* Parameters: (float) gNewFromStartingNode is the new gNewFromStartingNode cost to be used in calculating the new f value
* (Vector3) goalPosition is the goal position to be used in calculating new f value
* Return: none
*/
public void calculateCost(float gNewFromStartingNode, Vector3 goalPosition)
{
float W; // is the weight to be added to the huristic
if (nodesExpandedForThis <= N)
{
W = 1 - (nodesExpandedForThis / N);
}
else
{
W = 0f;
}
gFromStartingNode = gNewFromStartingNode;
hCostToGoal = (goalPosition - polygonBeingHeld.getCenterVector()).magnitude;
fTotalCost = gFromStartingNode + (1 + (epsion * W)) * hCostToGoal;
}
/* The method calculateCost calcluates the new cost from the passed parameters
* Paremeter: float gNewFromStartingNode - g cost from start node
* Vector3 goalPosition - position of the goal
*/
public void calculateCost(float gNewFromStartingNode, Vector3 goalPosition)
{
gFromStartingNode = gNewFromStartingNode;
hCostToGoal = (goalPosition - polygonBeingHeld.getCenterVector()).magnitude;
fTotalCost = gFromStartingNode + hCostToGoal;
}