protected ListCopyable <Node> AstarSearch(Graph graph, ListCopyable <Node> visited, Node startNode, Node endNode, Constraint constraint, int threadIndex)
{
var openList = PoolQueue <Node> .Spawn(10);
startNode.startToCurNodeLen[threadIndex] = 0f;
openList.Enqueue(startNode);
startNode.isOpened[threadIndex] = true;
while (openList.Count > 0)
{
var node = openList.Dequeue();
node.isClosed[threadIndex] = true;
visited.Add(node);
if (node.index == endNode.index)
{
PoolQueue <Node> .Recycle(ref openList);
return(this.RetracePath(threadIndex, endNode));
}
var neighbors = node.GetConnections();
foreach (var conn in neighbors)
{
if (conn.index < 0)
{
continue;
}
var neighbor = graph.nodes[conn.index];
if (neighbor.isClosed[threadIndex] == true)
{
continue;
}
if (neighbor.IsSuitable(constraint) == false)
{
continue;
}
float ng = node.startToCurNodeLen[threadIndex] + conn.cost;
if (neighbor.isOpened[threadIndex] == false || ng < neighbor.startToCurNodeLen[threadIndex])
{
neighbor.startToCurNodeLen[threadIndex] = ng;
neighbor.parent[threadIndex] = node;
if (neighbor.isOpened[threadIndex] == false)
{
openList.Enqueue(neighbor);
visited.Add(neighbor);
neighbor.isOpened[threadIndex] = true;
}
}
}
}
PoolQueue <Node> .Recycle(ref openList);
return(null);
}
protected void FloodFillAreas(Node rootNode, int area)
{
var list = PoolQueue <Node> .Spawn(this.nodes.Count);
list.Enqueue(rootNode);
while (list.Count > 0)
{
var node = list.Dequeue();
var connections = node.GetConnections();
for (int j = 0; j < connections.Length; ++j)
{
var connection = connections[j];
if (connection.index >= 0)
{
var nb = this.nodes[connection.index];
if (nb.area == 0 && nb.walkable == true)
{
nb.area = area;
//this.FloodFillAreas(nb, area);
list.Enqueue(nb);
}
}
}
}
PoolQueue <Node> .Recycle(ref list);
}