//this method should return true if the Search process finished (i.e either because it found a solution or because there was no solution
//it should return false if the search process didn't finish yet
//when returning true, the solution parameter should be set to null if there is no solution. Otherwise it must contain the found solution
//if the parameter returnPartialSolution is true, then the user wants to have a partial path to the best node so far even when the search has not finished searching
public bool Search(out Path solution, bool returnPartialSolution = false)
{
//to determine the connections of the selected nodeRecord you need to look at the NavigationGraphNode' EdgeOut list
//something like this
//var outConnections = bestNode.node.OutEdgeCount;
//for (int i = 0; i < outConnections; i++)
//{
//this.ProcessChildNode(bestNode, bestNode.node.EdgeOut(i));
//Iterate through processing each node
NodeRecord current;
while (Open.Count() > 0)
{
//Find the smallest element in the open list, using the estimatedTotalCost()
current = Open.GetBestAndRemove();
//If the current node is the goal, terminate
if (current.Equals(GoalNode))
{
break;
}
//Otherwise get the outgoing connections
var outConnections = current.node.OutEdgeCount;
for (int i = 0; i < outConnections; i++)
{
this.ProcessChildNode(current, current.node.EdgeOut(i));
}
Open.Remove(current);
Closed.Add(current);
}
if (current.node != GoalNode)
{
solution = null;
return(true);
}
else
{
Path path = new Path();
var nodes = path.PathNodes;
var positions = path.PathPositions;
while (current.node != StartNode)
{
nodes += current.parent;
current = current.parent.node;
}
nodes.Reverse();
positions.Reverse();
solution = path;
return(true);
}
}
