/*
* getPathFromBiDirectionAgent method will get the final path solution array from one of the searchs that was passed in
* Parameter: (AIDynBiDirBeamOpAgent) agentThatFoundPath is the agent that has found the path to its goal
* Return: none
*/
void getPathFromBiDirectionAgent(AIDynBiDirBeamOpAgent agentThatFoundPath)
{
finalSolutionArray = agentThatFoundPath.getFinalPath();
polygonFinalCount = agentThatFoundPath.getFinalPathLength();
for (int count = 1; count < finalSolutionArray.Length; count++)
{
finalPathCost += (finalSolutionArray [count].getCenterVector() - finalSolutionArray [count - 1].getCenterVector()).magnitude;
}
nodesVisited = agentThatFoundPath.getNodesVisited();
maxQueueSize = agentThatFoundPath.getMaxQueueSize();
}
/* AIDynBiDirBeamOpList method is a constructor for this class. It will set up the initial values for the search
* Parameter: (Vector3) goalPositionToAdd
* (int) polygonArrayLength is the length of the polygonArray from the navigation mesh
* (AIDynBiDirBeamOpAgent)searchToAdd is the agent using this list object
*/
public AIDynBiDirBeamOpList(Vector3 goalPositionToAdd, int polygonArrayLength, AIDynBiDirBeamOpAgent searchToAdd)
{
search = searchToAdd;
numberOfNodesHeld = 0;
goalPosition = goalPositionToAdd;
inList = new bool[polygonArrayLength];
indicesArray = new int[polygonArrayLength];
heap = new AIDynBiDirBeamOpNode[polygonArrayLength];
for (int count = 0; count < polygonArrayLength; count++)
{
inList [count] = false;
heap [count] = null;
}
}
/*
* AIDynBiDirBeamOpSearch's constructor will set up the initial values for the searchs
* Parameter: (Vector3)goalToAdd is the position of the goal in the scene
* (AIPolygon[])polygonArrayToAdd is the array that holds the polygons from the navigation mesh
*/
public AIDynBiDirBeamOpSearch(Vector3 goalToAdd, AIPolygon[] polygonArrayToAdd)
{
polygonArray = polygonArrayToAdd;
polygonFinalCount = 0;
maxQueueSize = 0;
nodesVisited = 0;
finalPathCost = 0f;
for (int count = 0; count < polygonArray.Length; count++) // looks for the polygon with the agent GameObject inside it
{
if (polygonArray [count].getHasAgent() == true)
{
AIDynBiDirBeamOpSearch.startingH = (goalToAdd - polygonArray[count].getCenterVector()).magnitude;
}
}
agentToGoal = new AIDynBiDirBeamOpAgent(goalToAdd, polygonArray, false);
goalToAgent = new AIDynBiDirBeamOpAgent(AINavigationMeshAgent.agentStart, polygonArray, true);
}
