//used for debugging
void printSolutionRecusively(AIAgentAStarSearchNode currentNode)
{
if (currentNode != null)
{
printSolutionRecusively(currentNode.getParentNode());
polygonFinalCount++;
}
}
/*
* addFinalsolutionPolygonsPostOrder 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 pre order
* from start until end
* Parameter: (AIAgentAStarSearchNode)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 addFinalSolutionPolygonsPreOrder(AIAgentAStarSearchNode currentNode, ref int counter)
{
if (currentNode != null)
{
finalSolutionArray [counter] = currentNode.getPolygon();
counter++;
addFinalSolutionPolygonsPreOrder(currentNode.getParentNode(), ref counter);
}
}
//used for debugging
void printSolutionRecusively(AIAgentAStarSearchNode currentNode)
{
if (currentNode != null)
{
printSolutionRecusively(currentNode.getParentNode());
Debug.Log(Time.realtimeSinceStartup + " id = " + currentNode.getPolygon().getID());
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: (AIAgentAStarSearchNode)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(AIAgentAStarSearchNode 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++;
}
}
/* enqueue adds a node to the front of this list
* Parameter: (AIAgentAStarSearchNode) nodeToAdd is the node to be added to the front of the list
* Return: none
*/
public void enqueue(AIAgentAStarSearchNode nodeToAdd)
{
AIAgentAStarSearchNode newNode = new AIAgentAStarSearchNode(nodeToAdd.getPolygon(), nodeToAdd.getParentNode(), nodeToAdd.getGFromStartingNode(), goalPosition);
newNode.setNextNode(frontOfList);
frontOfList = newNode;
}