/** Opens the nodes connected to this node. This is a base call and can be called by node classes overriding the Open function to open all connections in the #connections array.
* \see #connections
* \see Open */
public void BaseOpen(BinaryHeap open, Int3 targetPosition, Path path)
{
if (connections == null) {
return;
}
for (int i=0;i<connections.Length;i++) {
Node node = connections[i];
if (!path.CanTraverse (node)) {
continue;
}
if (node.pathID != pathID) {
node.parent = this;
node.pathID = pathID;
node.cost = connectionCosts[i];
node.UpdateH (targetPosition, path.heuristic, path.heuristicScale);
node.UpdateG ();
open.Add (node);
//Debug.DrawLine (position,node.position,Color.cyan);
//Debug.Log ("Opening Node "+node.position.ToString ()+" "+g+" "+node.cost+" "+node.g+" "+node.f);
} else {
//If not we can test if the path from the current node to this one is a better one then the one already used
int tmpCost = connectionCosts[i];//(current.costs == null || current.costs.Length == 0 ? costs[current.neighboursKeys[i]] : current.costs[current.neighboursKeys[i]]);
//Debug.Log ("Trying Node "+node.position.ToString ()+" "+(g+tmpCost+node.penalty)+" "+node.g+" "+node.f);
//Debug.DrawLine (position,node.position,Color.yellow);
if (g+tmpCost+node.penalty < node.g) {
node.cost = tmpCost;
//node.extraCost = extraCost2;
node.parent = this;
node.UpdateAllG (open);
open.Add (node);
//Debug.DrawLine (current.vectorPos,current.neighbours[i].vectorPos,Color.cyan); //Uncomment for @Debug
}
else if (node.g+tmpCost+penalty < g) {//Or if the path from this node ("node") to the current ("current") is better
bool contains = false;
//Make sure we don't travel along the wrong direction of a one way link now, make sure the Current node can be moved to from the other Node.
if (node.connections != null) {
for (int y=0;y<node.connections.Length;y++) {
if (node.connections[y] == this) {
contains = true;
break;
}
}
}
if (!contains) {
continue;
}
parent = node;
cost = tmpCost;
//extraCost = extraCost2;
UpdateAllG (open);
//open.Add (this);
//Debug.DrawLine (current.vectorPos,current.neighbours[i].vectorPos,Color.blue); //Uncomment for @Debug
open.Add (this);
}
}
}
}
/** Updates G score for this node and nodes which have this node set as #parent. This is to allow inheritance in higher levels than one, you can't call base.base in virtual functions */
public void BaseUpdateAllG(BinaryHeap open)
{
g = parent.g+cost+penalty;
open.Add (this);
if (connections == null) {
return;
}
//Loop through the connections of this node and call UpdateALlG on nodes which have this node set as #parent and has been searched by the pathfinder for this path */
for (int i=0;i<connections.Length;i++) {
if (connections[i].parent == this && connections[i].pathID == pathID) {
connections[i].UpdateAllG (open);
}
}
}
void Open (BinaryHeap open, Int3 targetPosition, Path path) {
base.Open (open, targetPosition, path);
GridGraph graph = gridGraphs[indices >> 24];
int[] neighbourOffsets = graph.neighbourOffsets;
int[] neighbourCosts = graph.neighbourCosts;
GridNode[] nodes = graph.graphNodes;
int index = indices & 0xFFFFFF;
for (int i=0;i<8;i++) {
if (((flags >> i) & 1) == 1) {
Node node = nodes[index+neighbourOffsets[i]];
if (!path.CanTraverse (node)) continue;
if (node.pathID != pathID) {
node.parent = this;
node.pathID = pathID;
node.cost = neighbourCosts[i];
node.UpdateH (targetPosition,path.heuristic,path.heuristicScale);
node.UpdateG ();
open.Add (node);
} else {
//If not we can test if the path from the current node to this one is a better one then the one already used
int tmpCost = neighbourCosts[i];//(current.costs == null || current.costs.Length == 0 ? costs[current.neighboursKeys[i]] : current.costs[current.neighboursKeys[i]]);
if (g+tmpCost+node.penalty < node.g) {
node.cost = tmpCost;
//node.extraCost = extraCost2;
node.parent = this;;
node.UpdateAllG (open);
//open.Add (node);
//Debug.DrawLine (current.vectorPos,current.neighbours[i].vectorPos,Color.cyan); //Uncomment for @Debug
}
else if (node.g+tmpCost+penalty < g) {//Or if the path from this node ("node") to the current ("current") is better
/*bool contains = false;
//[Edit, no one-way links between nodes in a single grid] Make sure we don't travel along the wrong direction of a one way link now, make sure the Current node can be accesed from the Node.
/*for (int y=0;y<node.connections.Length;y++) {
if (node.connections[y].endNode == this) {
contains = true;
break;
}
}
if (!contains) {
continue;
}*/
parent = node;
cost = tmpCost;
//extraCost = extraCost2;
UpdateAllG (open);
//open.Add (this);
//Debug.DrawLine (current.vectorPos,current.neighbours[i].vectorPos,Color.blue); //Uncomment for @Debug
//open.Add (this);
}
}
}
}
}
