/** Initializes the path. Sets up the open list and adds the first node to it */
public virtual void Initialize()
{
System.DateTime startTime = System.DateTime.Now;
//Resets the binary heap, don't clear it because that takes an awful lot of time, instead we can just change the numberOfItems in it (which is just an int)
//Binary heaps are just like a standard array but are always sorted so the node with the lowest F value can be retrieved faster
open = AstarPath.active.binaryHeap;
open.numberOfItems = 1;
if (hasEndPoint && startNode == endNode)
{
endNode.parent = null;
endNode.h = 0;
endNode.g = 0;
Trace(endNode);
foundEnd = true;
return;
}
//Adjust the costs for the end node
if (hasEndPoint && recalcStartEndCosts)
{
endNodeCosts = endNode.InitialOpen(open, hTarget, (Int3)endPoint, this, false);
callback += ResetCosts; /** \todo Might interfere with other paths since other paths might be calculated before #callback is called */
}
Node.activePath = this;
startNode.pathID = pathID;
startNode.parent = null;
startNode.cost = 0;
startNode.g = startNode.penalty;
startNode.UpdateH(hTarget, heuristic, heuristicScale);
if (recalcStartEndCosts)
{
startNode.InitialOpen(open, hTarget, startIntPoint, this, true);
}
else
{
startNode.Open(open, hTarget, this);
}
searchedNodes++;
//any nodes left to search?
if (open.numberOfItems <= 1)
{
LogError("No open points, the start node didn't open any nodes");
duration += (System.DateTime.Now.Ticks - startTime.Ticks) * 0.0001F;
return;
}
current = open.Remove();
duration += (System.DateTime.Now.Ticks - startTime.Ticks) * 0.0001F;
}
