public int Compare(PathfinderNode x, PathfinderNode y)
{
return(-(PathfinderHelper.GetDistance(x.GetGridCoord(), location) -
PathfinderHelper.GetDistance(y.GetGridCoord(), location)));
}
public override void ProcessNode(
PathfinderNode currentNode,
PathfinderNode startNode,
PathfinderNode targetNode,
PathfindingHeap <PathfinderNode> openSet,
HashSet <PathfinderNode> closedSet,
Dictionary <Point, PathfinderNode> activeNodes,
Grid grid,
int maxPathLength
)
{
Vector3 currentLocation = grid.NodeToWorldCoord(currentNode.GetGridCoord());
List <PathfinderNode> neighbors = PathfinderHelper.GetNeighbors(
currentNode,
activeNodes,
currentNodeCreator
);
foreach (PathfinderNode neighbour in neighbors)
{
Vector3 neighbourLocation = grid.NodeToWorldCoord(neighbour.GetGridCoord());
if (!neighbour.IsWalkable() ||
closedSet.Contains(neighbour))
{
continue;
}
CostResult newStrategyCost =
currentCostStrategy.GetAdditionalCostAt(
currentLocation,
neighbourLocation
);
//neighbour.UpdateAccumulatedStrategyCost(newStrategyCost);
int newPhysicalGCost =
currentNode.GetPhysicalGCost()
+ PathfinderHelper.GetDistance(currentNode, neighbour);
int newStrategyGCost =
currentNode.GetStrategyGCost()
+ neighbour.GetExtractor().Extract(newStrategyCost);
int newMovementCostToNeighbour =
newPhysicalGCost + newStrategyGCost;
// bool smaller = newStrategyGCost < neighbour.GetStrategyGCost();
//if (smaller)
// {
//DrawGizmo.AddGizmo(Color.green, newStrategyGCost + " " + neighbour.GetStrategyGCost(), neighbour.GetLocation());
//}
//Debug.Log(neighbour.GetGCost());
if (newMovementCostToNeighbour < neighbour.GetGCost() || !openSet.Contains(neighbour))
{
//Debug.Log(neighbour.GetGCost());
//DrawGizmo.AddGizmo(Color.green, "" + currentNode.GetExtractor().Extract(newStrategyCost), neighbour.GetLocation());
neighbour.SetStrategyCost(
newStrategyCost
);
neighbour.SetStrategyGCost(
newStrategyGCost
);
neighbour.SetPhysicalGCost(newPhysicalGCost);
neighbour.SetHCost(GetDistance(neighbour, targetNode));
neighbour.SetParent(currentNode);
if (!openSet.Contains(neighbour) &&
neighbour.WithInRangeOfStart(maxPathLength)
)
{
openSet.Add(neighbour);
PathfinderVisualizer.Visit(neighbour);
/*DrawGizmo.AddGizmo(Color.grey, "", grid.NodeToWorldCoord(
* neighbour.GetGridCoord())
* );*/
}
else
{
openSet.UpdateItem(neighbour);
}
}
else
{
}
}
}