public override void UpdateAllG(NodeRun nodeR, NodeRunData nodeRunData)
{
//g = parent.g+cost+penalty;
//f = g+h;
BaseUpdateAllG(nodeR, nodeRunData);
int index = GetIndex();
int[] neighbourOffsets = gridGraphs[indices >> 24].neighbourOffsets;
Node[] nodes = gridGraphs[indices >> 24].nodes;
for (int i = 0; i < 8; i++)
{
if (GetConnection(i))
{
//if (((flags >> i) & 1) == 1) {
Node node = nodes[index + neighbourOffsets[i]];
NodeRun nodeR2 = node.GetNodeRun(nodeRunData);
if (nodeR2.parent == nodeR && nodeR2.pathID == nodeRunData.pathID)
{
node.UpdateAllG(nodeR2, nodeRunData);
}
}
}
}
public static FsmNodeRunData SetNodeRunData(NodeRunData gameObject)
{
return(new FsmNodeRunData()
{
Value = gameObject
});
}
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;
//node.extraCost = extraCost2;
nodeR2.parent = nodeR;
node.UpdateAllG(nodeR2, nodeRunData);
//open.Add (node);
//Debug.DrawLine (current.vectorPos,current.neighbours[i].vectorPos,Color.cyan); //Uncomment for @Debug
}
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;
//extraCost = extraCost2;
UpdateAllG(nodeR, nodeRunData);
//open.Add (this);
//Debug.DrawLine (current.vectorPos,current.neighbours[i].vectorPos,Color.blue); //Uncomment for @Debug
//open.Add (this);
}
}
}
}
}
