public void StartANewPlan(int startNodeIndex, int goalNodeIndex)
{
if (startNodeIndex == Node.kInvalidIndex || goalNodeIndex == Node.kInvalidIndex)
{
m_planStatus = Planner.ePlanStatus.kPlanFailed;
return;
}
// Clear out the old data
m_nodePool.Clear();
m_openNodes.Clear();
m_solution.Clear();
m_expandedNodes.Clear();
// Set the new data
m_startNode = GetNode(startNodeIndex).Item;
m_goalNode = GetNode(goalNodeIndex).Item;
// Initialize the success condition
m_reachedGoalNodeSuccessCondition.Awake(m_goalNode);
m_successCondition = m_reachedGoalNodeSuccessCondition;
// Put the start node on the open list
m_startNode.G = 0.0f;
m_startNode.H = World.GetHCost(m_startNode.Index, m_goalNode.Index);
m_startNode.F = m_startNode.G + m_startNode.H;
m_startNode.Parent = null;
OpenNode(m_startNode);
m_planStatus = ePlanStatus.kPlanning;
}
public void StartANewPlan(int startNodeIndex, int goalNodeIndex)
{
if ( startNodeIndex == Node.kInvalidIndex || goalNodeIndex == Node.kInvalidIndex )
{
m_planStatus = Planner.ePlanStatus.kPlanFailed;
return;
}
// Clear out the old data
m_nodePool.Clear();
m_openNodes.Clear();
m_solution.Clear();
m_expandedNodes.Clear();
// Set the new data
m_startNode = GetNode(startNodeIndex).Item;
m_goalNode = GetNode(goalNodeIndex).Item;
// Initialize the success condition
m_reachedGoalNodeSuccessCondition.Awake(m_goalNode);
m_successCondition = m_reachedGoalNodeSuccessCondition;
// Put the start node on the open list
m_startNode.G = 0.0f;
m_startNode.H = World.GetHCost(m_startNode.Index, m_goalNode.Index);
m_startNode.F = m_startNode.G + m_startNode.H;
m_startNode.Parent = null;
OpenNode(m_startNode);
m_planStatus = ePlanStatus.kPlanning;
}