public WayPointStruct(int id, Vector3 pos)
{
_position = pos;
_g = 0f;
h = 0f;
_id = id;
_parent = -1;
_neigborns = new Neigborns();
}
public void Process()
{
bool findGoal = false;
_map.set(_init, 0.0f, -1, _target);
EnqueueOpen(_init);
while (OpenSize > 0 && !findGoal)
{
int current = DequeueOpen();
if (current != _target) //si no es el final...
{
SetClose(current);
Neigborns successors = _map.GetNeighbors(current);
for (int i = 0; i < successors.Count; ++i)
{
int child = successors[i];
float gCostFromThisPath;// = _map.GetCostFromThisPath(current, child);
bool inOpen = IsOpen(child);
bool isClose = IsClose(child);
if (_map.NeedUpdatePath(current, child, inOpen, isClose, out gCostFromThisPath))
{
_map.set(child, gCostFromThisPath, current, _target);
if (!inOpen)
{
EnqueueOpen(child);
}
}
}
}
else
{
findGoal = true;
}
Sort();
}
if (findGoal)
{
numWayPoints[0] = ReconstructPath(_target, 0);
}
}
