public override void Open (Path path, PathNode pathNode, PathHandler handler) {
if (connections == null) return;
for (int i = 0; i < connections.Length; i++) {
GraphNode other = connections[i].node;
if (path.CanTraverse(other)) {
PathNode pathOther = handler.GetPathNode(other);
if (pathOther.pathID != handler.PathID) {
pathOther.parent = pathNode;
pathOther.pathID = handler.PathID;
pathOther.cost = connections[i].cost;
pathOther.H = path.CalculateHScore(other);
pathOther.UpdateG(path);
handler.heap.Add(pathOther);
} else {
//If not we can test if the path from this node to the other one is a better one then the one already used
uint tmpCost = connections[i].cost;
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < pathOther.G) {
pathOther.cost = tmpCost;
pathOther.parent = pathNode;
other.UpdateRecursiveG(path, pathOther, handler);
}
}
}
}
}
// Token: 0x060025E0 RID: 9696 RVA: 0x001A6378 File Offset: 0x001A4578
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (this.connections == null)
{
return;
}
for (int i = 0; i < this.connections.Length; i++)
{
GraphNode node = this.connections[i].node;
if (path.CanTraverse(node))
{
PathNode pathNode2 = handler.GetPathNode(node);
if (pathNode2.pathID != handler.PathID)
{
pathNode2.parent = pathNode;
pathNode2.pathID = handler.PathID;
pathNode2.cost = this.connections[i].cost;
pathNode2.H = path.CalculateHScore(node);
pathNode2.UpdateG(path);
handler.heap.Add(pathNode2);
}
else
{
uint cost = this.connections[i].cost;
if (pathNode.G + cost + path.GetTraversalCost(node) < pathNode2.G)
{
pathNode2.cost = cost;
pathNode2.parent = pathNode;
node.UpdateRecursiveG(path, pathNode2, handler);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (connections == null)
{
return;
}
for (int i = 0; i < connections.Length; i++)
{
GraphNode other = connections[i];
if (path.CanTraverse(other))
{
PathNode pathOther = handler.GetPathNode(other);
if (pathOther.pathID != handler.PathID)
{
pathOther.parent = pathNode;
pathOther.pathID = handler.PathID;
pathOther.cost = connectionCosts[i];
pathOther.H = path.CalculateHScore(other);
other.UpdateG(path, pathOther);
handler.PushNode(pathOther);
}
else
{
//If not we can test if the path from this node to the other one is a better one then the one already used
uint tmpCost = connectionCosts[i];
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G + tmpCost < pathOther.G)
#else
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < pathOther.G)
#endif
{
pathOther.cost = tmpCost;
pathOther.parent = pathNode;
other.UpdateRecursiveG(path, pathOther, handler);
}
#if ASTAR_NO_TRAVERSAL_COST
else if (pathOther.G + tmpCost < pathNode.G && other.ContainsConnection(this))
#else
else if (pathOther.G + tmpCost + path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection(this))
#endif
{
//Or if the path from the other node to this one is better
pathNode.parent = pathOther;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
ushort pid = handler.PathID;
if (connections != null)
{
for (int i = 0; i < connections.Length; i++)
{
GraphNode other = connections[i].node;
if (!path.CanTraverse(other))
{
continue;
}
PathNode otherPN = handler.GetPathNode(other);
uint tmpCost = connections[i].cost;
if (otherPN.pathID != pid)
{
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore(other);
otherPN.UpdateG(path);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.heap.Add(otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
}
else
{
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G + tmpCost < otherPN.G)
#else
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G)
#endif
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG(path, otherPN, handler);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
LayerGridGraph gridGraph = LevelGridNode.GetGridGraph(base.GraphIndex);
int[] neighbourOffsets = gridGraph.neighbourOffsets;
uint[] neighbourCosts = gridGraph.neighbourCosts;
LevelGridNode[] nodes = gridGraph.nodes;
int nodeInGridIndex = base.NodeInGridIndex;
for (int i = 0; i < 4; i++)
{
int connectionValue = this.GetConnectionValue(i);
if (connectionValue != 255)
{
GraphNode graphNode = nodes[nodeInGridIndex + neighbourOffsets[i] + gridGraph.lastScannedWidth * gridGraph.lastScannedDepth * connectionValue];
if (path.CanTraverse(graphNode))
{
PathNode pathNode2 = handler.GetPathNode(graphNode);
if (pathNode2.pathID != handler.PathID)
{
pathNode2.parent = pathNode;
pathNode2.pathID = handler.PathID;
pathNode2.cost = neighbourCosts[i];
pathNode2.H = path.CalculateHScore(graphNode);
graphNode.UpdateG(path, pathNode2);
handler.heap.Add(pathNode2);
}
else
{
uint num = neighbourCosts[i];
if (pathNode.G + num + path.GetTraversalCost(graphNode) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
graphNode.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G)
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
base.Open(path, pathNode, handler);
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (this.connections == null)
{
return;
}
bool flag = pathNode.flag2;
for (int i = this.connections.Length - 1; i >= 0; i--)
{
Connection connection = this.connections[i];
GraphNode node = connection.node;
if (path.CanTraverse(connection.node))
{
PathNode pathNode2 = handler.GetPathNode(connection.node);
if (pathNode2 != pathNode.parent)
{
uint num = connection.cost;
if (flag || pathNode2.flag2)
{
num = path.GetConnectionSpecialCost(this, connection.node, num);
}
if (pathNode2.pathID != handler.PathID)
{
pathNode2.node = connection.node;
pathNode2.parent = pathNode;
pathNode2.pathID = handler.PathID;
pathNode2.cost = num;
pathNode2.H = path.CalculateHScore(node);
node.UpdateG(path, pathNode2);
handler.heap.Add(pathNode2);
}
else if (pathNode.G + num + path.GetTraversalCost(node) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
node.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G && node.ContainsConnection(this))
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
static int CanTraverse(IntPtr L)
{
try
{
ToLua.CheckArgsCount(L, 2);
Pathfinding.Path obj = (Pathfinding.Path)ToLua.CheckObject <Pathfinding.Path>(L, 1);
Pathfinding.GraphNode arg0 = (Pathfinding.GraphNode)ToLua.CheckObject <Pathfinding.GraphNode>(L, 2);
bool o = obj.CanTraverse(arg0);
LuaDLL.lua_pushboolean(L, o);
return(1);
}
catch (Exception e)
{
return(LuaDLL.toluaL_exception(L, e));
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
ushort pathID = handler.PathID;
int[] neighbourOffsets = gridGraph.neighbourOffsets;
uint[] neighbourCosts = gridGraph.neighbourCosts;
GridNode[] nodes = gridGraph.nodes;
int nodeInGridIndex = base.NodeInGridIndex;
for (int i = 0; i < 8; i++)
{
if (this.HasConnectionInDirection(i))
{
GridNode gridNode = nodes[nodeInGridIndex + neighbourOffsets[i]];
if (path.CanTraverse(gridNode))
{
PathNode pathNode2 = handler.GetPathNode(gridNode);
uint num = neighbourCosts[i];
if (pathNode2.pathID != pathID)
{
pathNode2.parent = pathNode;
pathNode2.pathID = pathID;
pathNode2.cost = num;
pathNode2.H = path.CalculateHScore(gridNode);
gridNode.UpdateG(path, pathNode2);
handler.heap.Add(pathNode2);
}
else if (pathNode.G + num + path.GetTraversalCost(gridNode) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
gridNode.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G)
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
base.Open(path, pathNode, handler);
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (base.connections != null)
{
bool flag = pathNode.flag2;
for (int i = base.connections.Length - 1; i >= 0; i--)
{
GraphNode node = base.connections[i];
if (path.CanTraverse(node))
{
PathNode node2 = handler.GetPathNode(node);
if (node2 != pathNode.parent)
{
uint currentCost = base.connectionCosts[i];
if (flag || node2.flag2)
{
currentCost = path.GetConnectionSpecialCost(this, node, currentCost);
}
if (node2.pathID != handler.PathID)
{
node2.node = node;
node2.parent = pathNode;
node2.pathID = handler.PathID;
node2.cost = currentCost;
node2.H = path.CalculateHScore(node);
node.UpdateG(path, node2);
handler.PushNode(node2);
}
else if (((pathNode.G + currentCost) + path.GetTraversalCost(node)) < node2.G)
{
node2.cost = currentCost;
node2.parent = pathNode;
node.UpdateRecursiveG(path, node2, handler);
}
else if ((((node2.G + currentCost) + path.GetTraversalCost(this)) < pathNode.G) && node.ContainsConnection(this))
{
pathNode.parent = node2;
pathNode.cost = currentCost;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gridGraph = GetGridGraph(base.GraphIndex);
ushort pathID = handler.PathID;
int[] neighbourOffsets = gridGraph.neighbourOffsets;
uint[] neighbourCosts = gridGraph.neighbourCosts;
GridNode[] nodes = gridGraph.nodes;
for (int i = 0; i < 8; i++)
{
if (this.GetConnectionInternal(i))
{
GridNode node = nodes[base.nodeInGridIndex + neighbourOffsets[i]];
if (path.CanTraverse(node))
{
PathNode node2 = handler.GetPathNode(node);
uint num3 = neighbourCosts[i];
if (node2.pathID != pathID)
{
node2.parent = pathNode;
node2.pathID = pathID;
node2.cost = num3;
node2.H = path.CalculateHScore(node);
node.UpdateG(path, node2);
handler.heap.Add(node2);
}
else if (((pathNode.G + num3) + path.GetTraversalCost(node)) < node2.G)
{
node2.cost = num3;
node2.parent = pathNode;
node.UpdateRecursiveG(path, node2, handler);
}
else if (((node2.G + num3) + path.GetTraversalCost(this)) < pathNode.G)
{
pathNode.parent = node2;
pathNode.cost = num3;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (this.connections == null)
{
return;
}
for (int i = 0; i < this.connections.Length; i++)
{
GraphNode graphNode = this.connections[i];
if (path.CanTraverse(graphNode))
{
PathNode pathNode2 = handler.GetPathNode(graphNode);
if (pathNode2.pathID != handler.PathID)
{
pathNode2.node = graphNode;
pathNode2.parent = pathNode;
pathNode2.pathID = handler.PathID;
pathNode2.cost = this.connectionCosts[i];
pathNode2.H = path.CalculateHScore(graphNode);
graphNode.UpdateG(path, pathNode2);
handler.PushNode(pathNode2);
}
else
{
uint num = this.connectionCosts[i];
if (pathNode.G + num + path.GetTraversalCost(graphNode) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
graphNode.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G && graphNode.ContainsConnection(this))
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (this.connections == null)
{
return;
}
for (int i = 0; i < this.connections.Length; i++)
{
GraphNode graphNode = this.connections[i];
if (path.CanTraverse(graphNode))
{
PathNode pathNode2 = handler.GetPathNode(graphNode);
if (pathNode2.pathID != handler.PathID)
{
pathNode2.node = graphNode;
pathNode2.parent = pathNode;
pathNode2.pathID = handler.PathID;
pathNode2.cost = this.connectionCosts[i];
pathNode2.H = path.CalculateHScore(graphNode);
graphNode.UpdateG(path, pathNode2);
handler.PushNode(pathNode2);
}
else
{
uint num = this.connectionCosts[i];
if (pathNode.G + num + path.GetTraversalCost(graphNode) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
graphNode.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G && graphNode.ContainsConnection(this))
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (this.connections != null)
{
for (int i = 0; i < this.connections.Length; i++)
{
GraphNode node = this.connections[i];
if (path.CanTraverse(node))
{
PathNode node2 = handler.GetPathNode(node);
if (node2.pathID != handler.PathID)
{
node2.node = node;
node2.parent = pathNode;
node2.pathID = handler.PathID;
node2.cost = this.connectionCosts[i];
node2.H = path.CalculateHScore(node);
node.UpdateG(path, node2);
handler.PushNode(node2);
}
else
{
uint num2 = this.connectionCosts[i];
if (((pathNode.G + num2) + path.GetTraversalCost(node)) < node2.G)
{
node2.cost = num2;
node2.parent = pathNode;
node.UpdateRecursiveG(path, node2, handler);
}
else if ((((node2.G + num2) + path.GetTraversalCost(this)) < pathNode.G) && node.ContainsConnection(this))
{
pathNode.parent = node2;
pathNode.cost = num2;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
ushort pathID = handler.PathID;
if (this.connections != null)
{
for (int i = 0; i < this.connections.Length; i++)
{
GraphNode node = this.connections[i].node;
if (path.CanTraverse(node))
{
PathNode pathNode2 = handler.GetPathNode(node);
uint cost = this.connections[i].cost;
if (pathNode2.pathID != pathID)
{
pathNode2.parent = pathNode;
pathNode2.pathID = pathID;
pathNode2.cost = cost;
pathNode2.H = path.CalculateHScore(node);
node.UpdateG(path, pathNode2);
handler.heap.Add(pathNode2);
}
else if (pathNode.G + cost + path.GetTraversalCost(node) < pathNode2.G)
{
pathNode2.cost = cost;
pathNode2.parent = pathNode;
node.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + cost + path.GetTraversalCost(this) < pathNode.G && node.ContainsConnection(this))
{
pathNode.parent = pathNode2;
pathNode.cost = cost;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
GridGraph gg = GetGridGraph (GraphIndex);
int[] neighbourOffsets = gg.neighbourOffsets;
uint[] neighbourCosts = gg.neighbourCosts;
GridNode[] nodes = gg.nodes;
ushort pid = handler.PathID;
for (int i=0;i<8;i++) {
if (GetConnectionInternal(i)) {
GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]];
if (!path.CanTraverse (other)) continue;
PathNode otherPN = handler.GetPathNode (other);
if (otherPN.pathID != pid) {
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = neighbourCosts[i];
otherPN.H = path.CalculateHScore (other);
other.UpdateG (path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.PushNode (otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
} 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
uint tmpCost = neighbourCosts[i];
if (pathNode.G+tmpCost+path.GetTraversalCost(other) < otherPN.G) {
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG (path,otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
} else if (otherPN.G+tmpCost+path.GetTraversalCost (this) < pathNode.G) {
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gg = GetGridGraph(GraphIndex);
ushort pid = handler.PathID;
{
int[] neighbourOffsets = gg.neighbourOffsets;
uint[] neighbourCosts = gg.neighbourCosts;
GridNode[] nodes = gg.nodes;
for (int i = 0; i < 8; i++)
{
if (GetConnectionInternal(i))
{
GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]];
if (!path.CanTraverse(other))
{
continue;
}
PathNode otherPN = handler.GetPathNode(other);
uint tmpCost = neighbourCosts[i];
// Check if the other node has been visited yet
if (otherPN.pathID != pid)
{
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore(other);
otherPN.UpdateG(path);
handler.PushNode(otherPN);
}
else
{
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G + tmpCost < otherPN.G)
#else
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G)
#endif
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG(path, otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
#if ASTAR_NO_TRAVERSAL_COST
else if (otherPN.G + tmpCost < pathNode.G)
#else
else if (otherPN.G + tmpCost + path.GetTraversalCost(this) < pathNode.G)
#endif
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
#if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS
base.Open(path, pathNode, handler);
#endif
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gg = GetGridGraph(GraphIndex);
ushort pid = handler.PathID;
#if ASTAR_JPS
if (gg.useJumpPointSearch && !path.FloodingPath)
{
JPSOpen(path, pathNode, handler);
}
else
#endif
{
int[] neighbourOffsets = gg.neighbourOffsets;
uint[] neighbourCosts = gg.neighbourCosts;
GridNode[] nodes = gg.nodes;
for (int i = 0; i < 8; i++)
{
if (GetConnectionInternal(i))
{
GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]];
if (!path.CanTraverse(other))
{
continue;
}
PathNode otherPN = handler.GetPathNode(other);
uint tmpCost = neighbourCosts[i];
if (otherPN.pathID != pid)
{
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore(other);
other.UpdateG(path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.PushNode(otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
}
else
{
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G + tmpCost < otherPN.G)
#else
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G)
#endif
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG(path, otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
#if ASTAR_NO_TRAVERSAL_COST
else if (otherPN.G + tmpCost < pathNode.G)
#else
else if (otherPN.G + tmpCost + path.GetTraversalCost(this) < pathNode.G)
#endif
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
#if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS
if (connections != null)
{
for (int i = 0; i < connections.Length; i++)
{
GraphNode other = connections[i];
if (!path.CanTraverse(other))
{
continue;
}
PathNode otherPN = handler.GetPathNode(other);
uint tmpCost = connectionCosts[i];
if (otherPN.pathID != pid)
{
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore(other);
other.UpdateG(path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.PushNode(otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
}
else
{
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G + tmpCost < otherPN.G)
#else
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G)
#endif
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG(path, otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
#if ASTAR_NO_TRAVERSAL_COST
else if (otherPN.G + tmpCost < pathNode.G && other.ContainsConnection(this))
#else
else if (otherPN.G + tmpCost + path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection(this))
#endif
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
#endif
}
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);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (this.connections == null)
{
return;
}
bool flag = pathNode.flag2;
for (int i = this.connections.Length - 1; i >= 0; i--)
{
GraphNode graphNode = this.connections[i];
if (path.CanTraverse(graphNode))
{
PathNode pathNode2 = handler.GetPathNode(graphNode);
if (pathNode2 != pathNode.parent)
{
uint num = this.connectionCosts[i];
if (flag || pathNode2.flag2)
{
num = path.GetConnectionSpecialCost(this, graphNode, num);
}
if (pathNode2.pathID != handler.PathID)
{
pathNode2.node = graphNode;
pathNode2.parent = pathNode;
pathNode2.pathID = handler.PathID;
pathNode2.cost = num;
pathNode2.H = path.CalculateHScore(graphNode);
graphNode.UpdateG(path, pathNode2);
handler.PushNode(pathNode2);
}
else if (pathNode.G + num + path.GetTraversalCost(graphNode) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
graphNode.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G && graphNode.ContainsConnection(this))
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
/** 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(NodeRunData nodeRunData, NodeRun nodeR, 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;
}
NodeRun nodeR2 = node.GetNodeRun(nodeRunData);
if (nodeR2.pathID != nodeRunData.pathID)
{
nodeR2.parent = nodeR;
nodeR2.pathID = nodeRunData.pathID;
nodeR2.cost = (uint)connectionCosts[i];
node.UpdateH(targetPosition, path.heuristic, path.heuristicScale, nodeR2);
node.UpdateG(nodeR2, nodeRunData);
nodeRunData.open.Add(nodeR2);
//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
uint tmpCost = (uint)connectionCosts[i];
if (nodeR.g + tmpCost + node.penalty
#if !NoTagPenalty
+ path.GetTagPenalty(node.tags)
#endif
< nodeR2.g)
{
nodeR2.cost = tmpCost;
nodeR2.parent = nodeR;
//TODO!!!!! ??
node.UpdateAllG(nodeR2, nodeRunData);
nodeRunData.open.Add(nodeR2);
}
else if (nodeR2.g + tmpCost + penalty
#if !NoTagPenalty
+ path.GetTagPenalty(tags)
#endif
< nodeR.g) //Or if the path from this node ("node") to the current ("current") is better
{
bool contains = node.ContainsConnection(this);
//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;
}
nodeR.parent = nodeR2;
nodeR.cost = tmpCost;
//TODO!!!!!!! ??
UpdateAllG(nodeR, nodeRunData);
nodeRunData.open.Add(nodeR);
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
LayerGridGraph gridGraph = LevelGridNode.GetGridGraph(base.GraphIndex);
int[] neighbourOffsets = gridGraph.neighbourOffsets;
uint[] neighbourCosts = gridGraph.neighbourCosts;
LevelGridNode[] nodes = gridGraph.nodes;
int nodeInGridIndex = base.NodeInGridIndex;
for (int i = 0; i < 4; i++)
{
int connectionValue = this.GetConnectionValue(i);
if (connectionValue != 255)
{
GraphNode graphNode = nodes[nodeInGridIndex + neighbourOffsets[i] + gridGraph.lastScannedWidth * gridGraph.lastScannedDepth * connectionValue];
if (path.CanTraverse(graphNode))
{
PathNode pathNode2 = handler.GetPathNode(graphNode);
if (pathNode2.pathID != handler.PathID)
{
pathNode2.parent = pathNode;
pathNode2.pathID = handler.PathID;
pathNode2.cost = neighbourCosts[i];
pathNode2.H = path.CalculateHScore(graphNode);
graphNode.UpdateG(path, pathNode2);
handler.PushNode(pathNode2);
}
else
{
uint num = neighbourCosts[i];
if (pathNode.G + num + path.GetTraversalCost(graphNode) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
graphNode.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G)
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
}
bool CanTraverse(GraphNode node)
{
return(path.CanTraverse(node));
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
if (connections == null) return;
for (int i=0;i<connections.Length;i++) {
GraphNode other = connections[i];
if (path.CanTraverse (other)) {
PathNode pathOther = handler.GetPathNode (other);
if (pathOther.pathID != handler.PathID) {
pathOther.parent = pathNode;
pathOther.pathID = handler.PathID;
pathOther.cost = connectionCosts[i];
pathOther.H = path.CalculateHScore (other);
other.UpdateG (path, pathOther);
handler.PushNode (pathOther);
} else {
//If not we can test if the path from this node to the other one is a better one then the one already used
uint tmpCost = connectionCosts[i];
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < pathOther.G) {
pathOther.cost = tmpCost;
pathOther.parent = pathNode;
other.UpdateRecursiveG (path, pathOther,handler);
//handler.PushNode (pathOther);
}
else if (pathOther.G+tmpCost+path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection (this)) {
//Or if the path from the other node to this one is better
pathNode.parent = pathOther;
pathNode.cost = tmpCost;
UpdateRecursiveG (path, pathNode,handler);
//handler.PushNode (pathNode);
}
}
}
}
}
public new override void Open(NodeRunData nodeRunData, NodeRun nodeR, Int3 targetPosition, Path path)
{
BaseOpen (nodeRunData, nodeR, targetPosition, path);
LayerGridGraph graph = gridGraphs[indices >> 24];
int[] neighbourOffsets = graph.neighbourOffsets;
int[] neighbourCosts = graph.neighbourCosts;
Node[] nodes = graph.nodes;
int index = GetIndex();//indices & 0xFFFFFF;
for (int i=0;i<4;i++) {
int conn = GetConnectionValue(i);//(gridConnections >> i*4) & 0xF;
if (conn != LevelGridNode.NoConnection) {
Node node = nodes[index+neighbourOffsets[i] + graph.width*graph.depth*conn];
if (!path.CanTraverse (node)) {
continue;
}
NodeRun nodeR2 = node.GetNodeRun (nodeRunData);
if (nodeR2.pathID != nodeRunData.pathID) {
nodeR2.parent = nodeR;
nodeR2.pathID = nodeRunData.pathID;
nodeR2.cost = (uint)neighbourCosts[i];
node.UpdateH (targetPosition, path.heuristic, path.heuristicScale, nodeR2);
node.UpdateG (nodeR2, nodeRunData);
nodeRunData.open.Add (nodeR2);
} 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
uint tmpCost = (uint)neighbourCosts[i];
if (nodeR.g+tmpCost+node.penalty
#if !NoTagPenalty
+ path.GetTagPenalty(node.tags)
#endif
< nodeR2.g) {
nodeR2.cost = tmpCost;
nodeR2.parent = nodeR;
//TODO!!!!! ??
node.UpdateAllG (nodeR2,nodeRunData);
nodeRunData.open.Add (nodeR2);
}
else if (nodeR2.g+tmpCost+penalty
#if !NoTagPenalty
+ path.GetTagPenalty(tags)
#endif
< nodeR.g) {//Or if the path from this node ("node") to the current ("current") is better
bool contains = node.ContainsConnection (this);
//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;
}
nodeR.parent = nodeR2;
nodeR.cost = tmpCost;
//TODO!!!!!!! ??
UpdateAllG (nodeR,nodeRunData);
nodeRunData.open.Add (nodeR);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (connections == null)
{
return;
}
bool flag2 = pathNode.flag2;
for (int i = connections.Length - 1; i >= 0; i--)
{
GraphNode other = connections[i];
if (path.CanTraverse(other))
{
PathNode pathOther = handler.GetPathNode(other);
//Fast path out, worth it for triangle mesh nodes since they usually have degree 2 or 3
if (pathOther == pathNode.parent)
{
continue;
}
uint cost = connectionCosts[i];
if (flag2 || pathOther.flag2)
{
cost = path.GetConnectionSpecialCost(this, other, cost);
}
if (pathOther.pathID != handler.PathID)
{
//Might not be assigned
pathOther.node = other;
pathOther.parent = pathNode;
pathOther.pathID = handler.PathID;
pathOther.cost = cost;
pathOther.H = path.CalculateHScore(other);
other.UpdateG(path, pathOther);
handler.PushNode(pathOther);
}
else
{
//If not we can test if the path from this node to the other one is a better one than the one already used
if (pathNode.G + cost + path.GetTraversalCost(other) < pathOther.G)
{
pathOther.cost = cost;
pathOther.parent = pathNode;
other.UpdateRecursiveG(path, pathOther, handler);
//handler.PushNode (pathOther);
}
else if (pathOther.G + cost + path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection(this))
{
//Or if the path from the other node to this one is better
pathNode.parent = pathOther;
pathNode.cost = cost;
UpdateRecursiveG(path, pathNode, handler);
//handler.PushNode (pathNode);
}
}
}
}
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
GridGraph gg = GetGridGraph(GraphIndex);
ushort pid = handler.PathID;
#if ASTAR_JPS
if (gg.useJumpPointSearch && !path.FloodingPath) {
JPSOpen(path, pathNode, handler);
} else
#endif
{
int[] neighbourOffsets = gg.neighbourOffsets;
uint[] neighbourCosts = gg.neighbourCosts;
GridNode[] nodes = gg.nodes;
for (int i = 0; i < 8; i++) {
if (GetConnectionInternal(i)) {
GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]];
if (!path.CanTraverse(other)) continue;
PathNode otherPN = handler.GetPathNode(other);
uint tmpCost = neighbourCosts[i];
if (otherPN.pathID != pid) {
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore(other);
other.UpdateG(path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.PushNode(otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
} else {
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G+tmpCost < otherPN.G)
#else
if (pathNode.G+tmpCost+path.GetTraversalCost(other) < otherPN.G)
#endif
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG(path, otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
#if ASTAR_NO_TRAVERSAL_COST
else if (otherPN.G+tmpCost < pathNode.G)
#else
else if (otherPN.G+tmpCost+path.GetTraversalCost(this) < pathNode.G)
#endif
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
#if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS
if (connections != null) for (int i = 0; i < connections.Length; i++) {
GraphNode other = connections[i];
if (!path.CanTraverse(other)) continue;
PathNode otherPN = handler.GetPathNode(other);
uint tmpCost = connectionCosts[i];
if (otherPN.pathID != pid) {
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore(other);
other.UpdateG(path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.PushNode(otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
} else {
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G+tmpCost < otherPN.G)
#else
if (pathNode.G+tmpCost+path.GetTraversalCost(other) < otherPN.G)
#endif
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG(path, otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
#if ASTAR_NO_TRAVERSAL_COST
else if (otherPN.G+tmpCost < pathNode.G && other.ContainsConnection(this))
#else
else if (otherPN.G+tmpCost+path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection(this))
#endif
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
#endif
}
/** 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 (NodeRunData nodeRunData, NodeRun nodeR, Int3 targetPosition, Path path) {
if (connections == null) return;
for (int i=0;i<connections.Length;i++) {
Node conNode = connections[i];
if (!path.CanTraverse (conNode)) {
continue;
}
NodeRun nodeR2 = conNode.GetNodeRun (nodeRunData);
if (nodeR2.pathID != nodeRunData.pathID) {
nodeR2.parent = nodeR;
nodeR2.pathID = nodeRunData.pathID;
nodeR2.cost = (uint)connectionCosts[i];
conNode.UpdateH (targetPosition, path.heuristic, path.heuristicScale, nodeR2);
conNode.UpdateG (nodeR2, nodeRunData);
nodeRunData.open.Add (nodeR2);
//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
uint tmpCost = (uint)connectionCosts[i];
if (nodeR.g+tmpCost+conNode.penalty
#if !ASTAR_NoTagPenalty
+ path.GetTagPenalty(conNode.tags)
#endif
< nodeR2.g) {
nodeR2.cost = tmpCost;
nodeR2.parent = nodeR;
conNode.UpdateAllG (nodeR2,nodeRunData);
nodeRunData.open.Add (nodeR2);
}
else if (nodeR2.g+tmpCost+penalty
#if !ASTAR_NoTagPenalty
+ path.GetTagPenalty(tags)
#endif
< nodeR.g) {//Or if the path from this node ("node") to the current ("current") is better
bool contains = conNode.ContainsConnection (this);
//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;
}
nodeR.parent = nodeR2;
nodeR.cost = tmpCost;
UpdateAllG (nodeR,nodeRunData);
nodeRunData.open.Add (nodeR);
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gg = GetGridGraph(GraphIndex);
ushort pid = handler.PathID;
{
int[] neighbourOffsets = gg.neighbourOffsets;
uint[] neighbourCosts = gg.neighbourCosts;
GridNode[] nodes = gg.nodes;
for (int i = 0; i < 8; i++)
{
if (GetConnectionInternal(i))
{
GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]];
if (!path.CanTraverse(other))
{
continue;
}
PathNode otherPN = handler.GetPathNode(other);
// Multiply the connection cost with 1 + the average of the traversal costs for the two nodes
uint tmpCost = (neighbourCosts[i] * (256 + path.GetTraversalCost(this) + path.GetTraversalCost(other))) / 128;
if (otherPN.pathID != pid)
{
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore(other);
other.UpdateG(path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.PushNode(otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
}
else
{
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
if (pathNode.G + tmpCost < otherPN.G)
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG(path, otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
else if (otherPN.G + tmpCost < pathNode.G)
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
if (connections != null)
{
for (int i = 0; i < connections.Length; i++)
{
GraphNode other = connections[i];
if (!path.CanTraverse(other))
{
continue;
}
PathNode otherPN = handler.GetPathNode(other);
uint tmpCost = (connectionCosts[i] * (256 + path.GetTraversalCost(this) + path.GetTraversalCost(other))) / 128;
if (otherPN.pathID != pid)
{
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore(other);
other.UpdateG(path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.PushNode(otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
}
else
{
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
if (pathNode.G + tmpCost < otherPN.G)
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG(path, otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
else if (otherPN.G + tmpCost < pathNode.G && other.ContainsConnection(this))
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
public override void Open (NodeRunData nodeRunData, NodeRun nodeR, Int3 targetPosition, Path path) {
BaseOpen (nodeRunData, nodeR, targetPosition, path);
GridGraph graph = gridGraphs[indices >> 24];
int[] neighbourOffsets = graph.neighbourOffsets;
int[] neighbourCosts = graph.neighbourCosts;
Node[] nodes = graph.nodes;
int index = GetIndex ();//indices & 0xFFFFFF;
for (int i=0;i<8;i++) {
if (GetConnection (i)) {
//if (((flags >> i) & 1) == 1) {
Node node = nodes[index+neighbourOffsets[i]];
if (!path.CanTraverse (node)) continue;
NodeRun nodeR2 = node.GetNodeRun (nodeRunData);
if (nodeR2.pathID != nodeRunData.pathID) {
nodeR2.parent = nodeR;
nodeR2.pathID = nodeRunData.pathID;
nodeR2.cost = (uint)neighbourCosts[i];
node.UpdateH (targetPosition,path.heuristic,path.heuristicScale, nodeR2);
node.UpdateG (nodeR2,nodeRunData);
nodeRunData.open.Add (nodeR2);
} 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
uint tmpCost = (uint)neighbourCosts[i];//(current.costs == null || current.costs.Length == 0 ? costs[current.neighboursKeys[i]] : current.costs[current.neighboursKeys[i]]);
if (nodeR.g+tmpCost+node.penalty
+ path.GetTagPenalty(node.tags)
< nodeR2.g) {
nodeR2.cost = tmpCost;
nodeR2.parent = nodeR;
node.UpdateAllG (nodeR2,nodeRunData);
}
else if (nodeR2.g+tmpCost+penalty
+ path.GetTagPenalty(tags)
< nodeR.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;
}*/
nodeR.parent = nodeR2;
nodeR.cost = tmpCost;
UpdateAllG (nodeR,nodeRunData);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
ushort pathID = handler.PathID;
int[] neighbourOffsets = gridGraph.neighbourOffsets;
uint[] neighbourCosts = gridGraph.neighbourCosts;
GridNode[] nodes = gridGraph.nodes;
for (int i = 0; i < 8; i++)
{
if (this.GetConnectionInternal(i))
{
GridNode gridNode = nodes[this.nodeInGridIndex + neighbourOffsets[i]];
if (path.CanTraverse(gridNode))
{
PathNode pathNode2 = handler.GetPathNode(gridNode);
uint num = neighbourCosts[i];
if (pathNode2.pathID != pathID)
{
pathNode2.parent = pathNode;
pathNode2.pathID = pathID;
pathNode2.cost = num;
pathNode2.H = path.CalculateHScore(gridNode);
gridNode.UpdateG(path, pathNode2);
handler.PushNode(pathNode2);
}
else if (pathNode.G + num + path.GetTraversalCost(gridNode) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
gridNode.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G)
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
if (this.connections != null)
{
for (int j = 0; j < this.connections.Length; j++)
{
GraphNode graphNode = this.connections[j];
if (path.CanTraverse(graphNode))
{
PathNode pathNode3 = handler.GetPathNode(graphNode);
uint num2 = this.connectionCosts[j];
if (pathNode3.pathID != pathID)
{
pathNode3.parent = pathNode;
pathNode3.pathID = pathID;
pathNode3.cost = num2;
pathNode3.H = path.CalculateHScore(graphNode);
graphNode.UpdateG(path, pathNode3);
handler.PushNode(pathNode3);
}
else if (pathNode.G + num2 + path.GetTraversalCost(graphNode) < pathNode3.G)
{
pathNode3.cost = num2;
pathNode3.parent = pathNode;
graphNode.UpdateRecursiveG(path, pathNode3, handler);
}
else if (pathNode3.G + num2 + path.GetTraversalCost(this) < pathNode.G && graphNode.ContainsConnection(this))
{
pathNode.parent = pathNode3;
pathNode.cost = num2;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
if (connections == null) return;
// Flag2 indicates if this node needs special treatment
// with regard to connection costs
bool flag2 = pathNode.flag2;
// Loop through all connections
for (int i=connections.Length-1;i >= 0;i--) {
GraphNode other = connections[i];
// Make sure we can traverse the neighbour
if (path.CanTraverse (other)) {
PathNode pathOther = handler.GetPathNode (other);
// Fast path out, worth it for triangle mesh nodes since they usually have degree 2 or 3
if (pathOther == pathNode.parent) {
continue;
}
uint cost = connectionCosts[i];
if (flag2 || pathOther.flag2) {
// Get special connection cost from the path
// This is used by the start and end nodes
cost = path.GetConnectionSpecialCost (this,other,cost);
}
// Test if we have seen the other node before
if (pathOther.pathID != handler.PathID) {
// We have not seen the other node before
// So the path from the start through this node to the other node
// must be the shortest one so far
// Might not be assigned
pathOther.node = other;
pathOther.parent = pathNode;
pathOther.pathID = handler.PathID;
pathOther.cost = cost;
pathOther.H = path.CalculateHScore (other);
other.UpdateG (path, pathOther);
handler.PushNode (pathOther);
} else {
// If not we can test if the path from this node to the other one is a better one than the one already used
if (pathNode.G + cost + path.GetTraversalCost(other) < pathOther.G) {
pathOther.cost = cost;
pathOther.parent = pathNode;
other.UpdateRecursiveG (path, pathOther,handler);
}
else if (pathOther.G+cost+path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection (this)) {
// Or if the path from the other node to this one is better
pathNode.parent = pathOther;
pathNode.cost = cost;
UpdateRecursiveG (path, pathNode,handler);
}
}
}
}
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
if (connections == null) return;
bool flag2 = pathNode.flag2;
for (int i=connections.Length-1;i >= 0;i--) {
GraphNode other = connections[i];
if (path.CanTraverse (other)) {
PathNode pathOther = handler.GetPathNode (other);
//Fast path out, worth it for triangle mesh nodes since they usually have degree 2 or 3
if (pathOther == pathNode.parent) {
continue;
}
uint cost = connectionCosts[i];
if (flag2 || pathOther.flag2) {
cost = path.GetConnectionSpecialCost (this,other,cost);
}
if (pathOther.pathID != handler.PathID) {
//Might not be assigned
pathOther.node = other;
pathOther.parent = pathNode;
pathOther.pathID = handler.PathID;
pathOther.cost = cost;
pathOther.H = path.CalculateHScore (other);
other.UpdateG (path, pathOther);
handler.PushNode (pathOther);
} else {
//If not we can test if the path from this node to the other one is a better one than the one already used
if (pathNode.G + cost + path.GetTraversalCost(other) < pathOther.G) {
pathOther.cost = cost;
pathOther.parent = pathNode;
other.UpdateRecursiveG (path, pathOther,handler);
//handler.PushNode (pathOther);
}
else if (pathOther.G+cost+path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection (this)) {
//Or if the path from the other node to this one is better
pathNode.parent = pathOther;
pathNode.cost = cost;
UpdateRecursiveG (path, pathNode,handler);
//handler.PushNode (pathNode);
}
}
}
}
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
//BaseOpen (nodeRunData, nodeR, targetPosition, path);
LayerGridGraph graph = GetGridGraph(GraphIndex);
int[] neighbourOffsets = graph.neighbourOffsets;
uint[] neighbourCosts = graph.neighbourCosts;
LevelGridNode[] nodes = graph.nodes;
int index = NodeInGridIndex;//indices & 0xFFFFFF;
for (int i=0;i<4;i++) {
int conn = GetConnectionValue(i);//(gridConnections >> i*4) & 0xF;
if (conn != LevelGridNode.NoConnection) {
GraphNode other = nodes[index+neighbourOffsets[i] + graph.lastScannedWidth*graph.lastScannedDepth*conn];
if (!path.CanTraverse (other)) {
continue;
}
PathNode otherPN = handler.GetPathNode (other);
if (otherPN.pathID != handler.PathID) {
otherPN.parent = pathNode;
otherPN.pathID = handler.PathID;
otherPN.cost = neighbourCosts[i];
otherPN.H = path.CalculateHScore (other);
other.UpdateG (path, otherPN);
handler.PushNode (otherPN);
} 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
uint tmpCost = neighbourCosts[i];
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G + tmpCost < otherPN.G)
#else
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G)
#endif
{
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG (path,otherPN, handler);
}
//Or if the path from this node ("other") to the current ("current") is better
#if ASTAR_NO_TRAVERSAL_COST
else if (otherPN.G+tmpCost < pathNode.G)
#else
else if (otherPN.G+tmpCost+path.GetTraversalCost(this) < pathNode.G)
#endif
{
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
var gg = GetGridGraph (GraphIndex);
var pid = handler.PathID;
{
var neighbourOffsets = gg.neighbourOffsets;
var neighbourCosts = gg.neighbourCosts;
var nodes = gg.nodes;
for (var i=0;i<8;i++) {
if (GetConnectionInternal(i)) {
var other = nodes[nodeInGridIndex + neighbourOffsets[i]];
if (!path.CanTraverse (other)) continue;
var otherPN = handler.GetPathNode (other);
// Multiply the connection cost with 1 + the average of the traversal costs for the two nodes
var tmpCost = (neighbourCosts[i] * (256 + path.GetTraversalCost(this) + path.GetTraversalCost(other)))/128;
if (otherPN.pathID != pid) {
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore (other);
other.UpdateG (path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.PushNode (otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
} else {
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
if (pathNode.G+tmpCost < otherPN.G)
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG (path,otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
else if (otherPN.G+tmpCost < pathNode.G)
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
ushort pathID = handler.PathID;
int[] neighbourOffsets = gridGraph.neighbourOffsets;
uint[] neighbourCosts = gridGraph.neighbourCosts;
GridNode[] nodes = gridGraph.nodes;
for (int i = 0; i < 8; i++)
{
if (this.GetConnectionInternal(i))
{
GridNode gridNode = nodes[this.nodeInGridIndex + neighbourOffsets[i]];
if (path.CanTraverse(gridNode))
{
PathNode pathNode2 = handler.GetPathNode(gridNode);
uint num = neighbourCosts[i];
if (pathNode2.pathID != pathID)
{
pathNode2.parent = pathNode;
pathNode2.pathID = pathID;
pathNode2.cost = num;
pathNode2.H = path.CalculateHScore(gridNode);
gridNode.UpdateG(path, pathNode2);
handler.PushNode(pathNode2);
}
else if (pathNode.G + num + path.GetTraversalCost(gridNode) < pathNode2.G)
{
pathNode2.cost = num;
pathNode2.parent = pathNode;
gridNode.UpdateRecursiveG(path, pathNode2, handler);
}
else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G)
{
pathNode.parent = pathNode2;
pathNode.cost = num;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
if (this.connections != null)
{
for (int j = 0; j < this.connections.Length; j++)
{
GraphNode graphNode = this.connections[j];
if (path.CanTraverse(graphNode))
{
PathNode pathNode3 = handler.GetPathNode(graphNode);
uint num2 = this.connectionCosts[j];
if (pathNode3.pathID != pathID)
{
pathNode3.parent = pathNode;
pathNode3.pathID = pathID;
pathNode3.cost = num2;
pathNode3.H = path.CalculateHScore(graphNode);
graphNode.UpdateG(path, pathNode3);
handler.PushNode(pathNode3);
}
else if (pathNode.G + num2 + path.GetTraversalCost(graphNode) < pathNode3.G)
{
pathNode3.cost = num2;
pathNode3.parent = pathNode;
graphNode.UpdateRecursiveG(path, pathNode3, handler);
}
else if (pathNode3.G + num2 + path.GetTraversalCost(this) < pathNode.G && graphNode.ContainsConnection(this))
{
pathNode.parent = pathNode3;
pathNode.cost = num2;
this.UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
/** 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);
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gg = GetGridGraph(GraphIndex);
ushort pid = handler.PathID;
#if ASTAR_JPS
if (gg.useJumpPointSearch && !path.FloodingPath)
{
JPSOpen(path, pathNode, handler);
}
else
#endif
{
int[] neighbourOffsets = gg.neighbourOffsets;
uint[] neighbourCosts = gg.neighbourCosts;
GridNode[] nodes = gg.nodes;
var index = NodeInGridIndex;
for (int i = 0; i < 8; i++)
{
if (HasConnectionInDirection(i))
{
GridNode other = nodes[index + neighbourOffsets[i]];
if (!path.CanTraverse(other))
{
continue;
}
PathNode otherPN = handler.GetPathNode(other);
uint tmpCost = neighbourCosts[i];
// Check if the other node has not yet been visited by this path
if (otherPN.pathID != pid)
{
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore(other);
otherPN.UpdateG(path);
handler.heap.Add(otherPN);
}
else
{
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G + tmpCost < otherPN.G)
#else
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G)
#endif
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG(path, otherPN, handler);
}
}
}
}
}
#if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS
base.Open(path, pathNode, handler);
#endif
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
GridGraph gg = GetGridGraph(GraphIndex);
int[] neighbourOffsets = gg.neighbourOffsets;
uint[] neighbourCosts = gg.neighbourCosts;
GridNode[] nodes = gg.nodes;
ushort pid = handler.PathID;
for (int i = 0; i < 8; i++)
{
if (GetConnectionInternal(i))
{
GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]];
if (!path.CanTraverse(other))
{
continue;
}
PathNode otherPN = handler.GetPathNode(other);
if (otherPN.pathID != pid)
{
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = neighbourCosts[i];
otherPN.H = path.CalculateHScore(other);
other.UpdateG(path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.PushNode(otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
}
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
uint tmpCost = neighbourCosts[i];
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G)
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG(path, otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
else if (otherPN.G + tmpCost + path.GetTraversalCost(this) < pathNode.G)
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (connections == null)
{
return;
}
// Flag2 indicates if this node needs special treatment
// with regard to connection costs
bool flag2 = pathNode.flag2;
// Loop through all connections
for (int i = connections.Length - 1; i >= 0; i--)
{
var conn = connections[i];
var other = conn.node;
// Make sure we can traverse the neighbour
if (path.CanTraverse(conn.node))
{
PathNode pathOther = handler.GetPathNode(conn.node);
// Fast path out, worth it for triangle mesh nodes since they usually have degree 2 or 3
if (pathOther == pathNode.parent)
{
continue;
}
uint cost = conn.cost;
if (flag2 || pathOther.flag2)
{
// Get special connection cost from the path
// This is used by the start and end nodes
cost = path.GetConnectionSpecialCost(this, conn.node, cost);
}
// Test if we have seen the other node before
if (pathOther.pathID != handler.PathID)
{
// We have not seen the other node before
// So the path from the start through this node to the other node
// must be the shortest one so far
// Might not be assigned
pathOther.node = conn.node;
pathOther.parent = pathNode;
pathOther.pathID = handler.PathID;
pathOther.cost = cost;
pathOther.H = path.CalculateHScore(other);
pathOther.UpdateG(path);
handler.heap.Add(pathOther);
}
else
{
// If not we can test if the path from this node to the other one is a better one than the one already used
if (pathNode.G + cost + path.GetTraversalCost(other) < pathOther.G)
{
pathOther.cost = cost;
pathOther.parent = pathNode;
other.UpdateRecursiveG(path, pathOther, handler);
}
}
}
}
}
public override void Open(Path path, PathNode pathNode, PathHandler handler)
{
if (connections == null)
{
return;
}
for (var i = 0; i < connections.Length; i++)
{
var other = connections[i];
if (path.CanTraverse(other))
{
var pathOther = handler.GetPathNode(other);
if (pathOther.pathID != handler.PathID)
{
//Might not be assigned
pathOther.node = other;
pathOther.parent = pathNode;
pathOther.pathID = handler.PathID;
pathOther.cost = connectionCosts[i];
pathOther.H = path.CalculateHScore(other);
other.UpdateG(path, pathOther);
handler.PushNode(pathOther);
}
else
{
//If not we can test if the path from this node to the other one is a better one then the one already used
var tmpCost = connectionCosts[i];
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < pathOther.G)
{
pathOther.cost = tmpCost;
pathOther.parent = pathNode;
//other.UpdateAllG (pathOther,handler);
other.UpdateRecursiveG(path, pathOther, handler);
//handler.PushNode (pathOther);
}
else if (pathOther.G + tmpCost + path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection(this))
{
//Or if the path from the other node to this one is better
pathNode.parent = pathOther;
pathNode.cost = tmpCost;
//UpdateAllG (pathNode,handler);
UpdateRecursiveG(path, pathNode, handler);
//handler.PushNode (pathNode);
}
}
}
}
}
