public override void Init(Node node, bool resetCounters)
{
closed.Clear();
open.Clear();
neighbors.Clear();
if (resetCounters)
agent.getCounters().reset();
this.current = node;
node.setParent(node.getParent());
node.setCost(Node.Cost.Movement, 0);
node.setCost(Node.Cost.Heuristic, node.getCost(Node.Cost.Movement) + node.getDistance(agent.getNode(Agent.NodeType.Target), heuristicMethod));
open.Add(node);
}
protected void takeStep(Agent agent, Node algorithmCurrent, Model model)
{
/* check to see if we didn't move at all */
if (algorithmCurrent.isEqual(agent.getNode(Agent.NodeType.Current)))
return;
/* check to see if we need to backtrack */
while (!algorithmCurrent.getParent().isEqual(agent.getNode(Agent.NodeType.Current)))
algorithmCurrent = algorithmCurrent.getParent();
/* take a step! */
agent.setNode(Agent.NodeType.Current, algorithmCurrent);
/* increment step counter */
agent.getCounters().incSteps();
}