/*
* doSearch method will run the A* search till a goal is found, or a node is in another agent closed list, or the
* nodes expanded is equal to the nodesToExpand variable
* Parameter: (int)nodesToExpand is the number of nodes that the search can expand
* (AIAgentAStarSearchList) secondSearchClosedList is the closed list from the other agent
* Return: (int)
* 0 if nothing was found
* 1 if the goal for this search agent was found
* 2 if a node on the second agent's closed list was found
*/
public int doSearch(int nodesToExpand, AIAgentAStarSearchList secondSearchClosedList)
{
int nodesExpandedCount = 0;
while (openList.isEmpty() == false && nodesExpandedCount < nodesToExpand) //goes until nothing is left on the open list meaning a path could not be found
{
currentNode = openList.popNode(); //take the first(Best) polygon off the openList
queueSize--;
nodesVisited++;
if (currentNode == null)
{
return(0);
}
closedList.enqueue(currentNode); //add currentNode to the closedList
if (isBackwards == true)
{
if (currentNode.getPolygon().getHasAgent() == true)
{
finalSolutionStart = currentNode;
return(1);
}
}
else
{
if (currentNode.getPolygon().getHasGoal() == true) //checks to see if the currentNode has the goal inside its polygon
{
finalSolutionStart = currentNode;
return(1);
}
}
if (secondSearchClosedList.isNodeOnList(currentNode.getPolygon()) == true)
{
finalSolutionStart = currentNode;
return(2);
}
for (int count = 0; count < currentNode.getPolygon().getNeighborsHeld(); count++) //adds all the neighbors that are not on the closed list to the open list
{
if (closedList.isNodeOnList(polygonArray[currentNode.getPolygon().getNeighborAt(count)]) == false)
{
gCost = (currentNode.getPolygon().getCenterVector() - polygonArray[currentNode.getPolygon().getNeighborAt(count)].getCenterVector()).magnitude + currentNode.getGFromStartingNode();
if (openList.isNodeOnList(polygonArray[currentNode.getPolygon().getNeighborAt(count)]) == false)
{
openList.addNode(polygonArray[currentNode.getPolygon().getNeighborAt(count)], currentNode, gCost);
queueSize++;
}
else if (openList.getNodeOnList(polygonArray[currentNode.getPolygon().getNeighborAt(count)]).compareToG(gCost) > 0f) //updates the a Nodes information if the new GCost (cost from start to node) is less then what was previously in it
{
openList.updateNode(openList.getNodeOnList(polygonArray[currentNode.getPolygon().getNeighborAt(count)]), currentNode, gCost);
queueSize++;
}
}
}
if (openList.getSize() > maxQueueSize)
{
maxQueueSize = openList.getSize();
}
nodesExpandedCount++;
}
return(0);
}
/* The AIBiDirectionalAStarAgent
*
* Parameters: Vector3 goalPositionToAdd - location of goal in the search
* AIPolygon[] polygonsToAdd - array of walkable polygons to be search for a path
* bool isBackwardsToAdd - determines if polygon was added as a result of backtracking
*/
public AIBiDirectionalAStarAgent(Vector3 goalPositionToAdd, AIPolygon[] polygonsToAdd, bool isBackwardsToAdd)
{
polygonArray = polygonsToAdd;
goalPosition = goalPositionToAdd;
isBackwards = isBackwardsToAdd;
polygonFinalCount = 0;
maxQueueSize = 0;
nodesVisited = 0;
openList = new AIAgentAStarSearchList(goalPosition);
closedList = new AIAgentAStarSearchList(goalPosition);
if (isBackwards == true)
{
for (int count = 0; count < polygonArray.Length; count++) // looks for the polygon with the agent GameObject inside it
{
if (polygonArray [count].getHasGoal() == true)
{
openList.addNode(polygonArray [count], null, 0); //adds the first polygon to the openList
count = polygonArray.Length;
}
}
}
else
{
for (int count = 0; count < polygonArray.Length; count++) // looks for the polygon with the agent GameObject inside it
{
if (polygonArray [count].getHasAgent() == true)
{
openList.addNode(polygonArray [count], null, 0); //adds the first polygon to the openList
count = polygonArray.Length;
}
}
}
queueSize = 1;
gCost = 0f;
}
/*
* searchStart method will begin the search by first setting the first node in the open list, which holds the
* polygon that has the agent GameObject in it, then it will call the functions to do the search, build the
* finalSolution array, and set the wayPoints
* Parameters: none
* Return: none
*/
public void startSearch()
{
openList = new AIAgentAStarSearchList(goalPosition);
closedList = new AIAgentAStarSearchList(goalPosition);;
for (int count = 0; count < polygonArray.Length; count++) // looks for the polygon with the agent GameObject inside it
{
if (polygonArray [count].getHasAgent() == true && polygonArray[count].getAgentID() == 1)
{
openList.addNode(polygonArray [count], null, 0); //adds the first polygon to the openList
count = polygonArray.Length;
}
}
AStarSearch(); //does the AStar search
printFinalSolution(); //prints the finalSolution for debugging
addFinalSolutionPolygons(); //adds the finalsolution to the finalsolution array
}
