public void visitNeighbour(AStarNode origin, int x, int y, int z) {
int costFromStart = origin.getCostFromStart() + goal.getNodeCost(origin, x, y, z);
int costToGoal = goal.distanceToGoal(x, y, z);
int totalCost = costFromStart + costToGoal;
// Check if on open/closed list
// If yes, check if new path is more efficient (lower f value)
// and update path if so.
AStarNode foundNode = openList.findOpenNode(x, y, z);
boolean foundCheaperPath = false;
if (foundNode != null) {
if (totalCost < foundNode.getTotalCost()) {
foundCheaperPath = true;
openList.removeNodeFromOpenList(foundNode);
}
} else {
foundNode = closedList.findClosedNode(x, y, z);
if (foundNode != null) {
if (totalCost < foundNode.getTotalCost()) {
foundCheaperPath = true;
closedList.removeNodeFromClosedList(foundNode);
}
} else {
// Node not found in open and closed list, thus put a
// new one on the open list.
foundNode = map.nodeAt(x, y, z);
foundCheaperPath = true;
}
}
if (foundCheaperPath) {
foundNode.initialize(origin, costFromStart, costToGoal, totalCost, x, y, z);
openList.addNodeToOpenList(foundNode);
}
}
/*
* (non-Javadoc)
*
* @see machine.AStarMachine#setUpSearchSpace(algorithm.AStarMapBase,
* algorithm.AStarGoalBase)
*/
public void setUpSearchSpace(AStarMapBase<AStarNode> newMap, AStarGoalBase<AStarNode> newGoal) {
if (newMap == null) throw new IllegalArgumentException("The map to search may not be null.");
if (newGoal == null) throw new IllegalArgumentException("The goal object may not be null.");
map = newMap;
openList.setMap(map);
closedList.setMap(map);
goal = newGoal;
goal.setNodeStorage(openList);
}
/*
* (non-Javadoc)
*
* @see machine.AStarMachine#findPath()
*/
public List<AStarNode> findPath(
int startX, int startY, int startZ, int endX, int endY, int endZ) {
if (map == null)
throw new IllegalStateException(
"The searched map must be specified before path search can be done.");
if (this.goal == null)
throw new IllegalStateException(
"The goal object must be specified before path search can be done.");
AStarNode goalNode = map.nodeAt(endX, endY, endZ);
int goalDistance = this.goal.getNodeCost(goalNode, startX, startY, startZ);
goalNode.initialize(null, goalDistance, 0, goalDistance, endX, endY, endZ);
this.goal.setGoalNode(goalNode);
AStarNode startNode = map.nodeAt(startX, startY, startZ);
startNode.initialize(null, 0, goalDistance, goalDistance, startX, startY, startZ);
openList.addNodeToOpenList(startNode);
return AStar.findPath(openList, closedList, map, this.goal, nodePool, this);
}
