//return 0 if nothing found
//1 if agent/goal found
//2 if node on close list is found
/*
* 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
* (AIAgentAStarSearchListOp) 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, AIAgentAStarSearchNode[] 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
nodesVisited++;
if (currentNode == null)
{
return(0);
}
closedList[currentNode.getPolygon().getID()] = currentNode;
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[currentNode.getPolygon().getID()] != null)
{
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[currentNode.getPolygon().getNeighborAt(count)] == null)
{
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);
}
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);
}
}
}
if (openList.getSize() > maxQueueSize)
{
maxQueueSize = openList.getSize();
}
nodesExpandedCount++;
}
return(0);
}
/* 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;
}