private void AddToOpenList(NavigationNode _node, NavigationNode _parent, int _parentStartCost, NavigationNode _goalNode)
{
//first, calculate estimated distance from goal in 'steps'.
float distance = Vector3.Distance(_node.WorldPosition, _goalNode.WorldPosition);
//add the node plus it's accompanying info into the dictionary.
OpenNodeInformation info = new OpenNodeInformation(_node, _parent, _parentStartCost);
info.EstimatedDestinationCost = distance;
m_openNodeList.Add(_node, info);
}
/// <summary>
/// Returns a path that excludes those on the exclusion list, if available.
/// </summary>
/// <param name="_startNode"></param>
/// <param name="_endNode"></param>
/// <param name="exclusionList"></param>
/// <returns></returns>
public List <NavigationNode> FindPathThatExcludesNodes(NavigationNode _startNode, NavigationNode _endNode, List <NavigationNode> exclusionList)
{
m_exclusionList = exclusionList;
m_start = DateTime.Now;
//clear everything.
m_openNodeList.Clear();
m_closedNodeList.Clear();
m_pathNodeList = new List <NavigationNode>();
//add the start node to the open list.
AddToOpenList(_startNode, null, 0, _endNode);
//start processing.
bool pathFound = false;
while (!pathFound)
{
bool failed;
if (ProcessNodes(_endNode, out failed, true))
{
pathFound = true;
}
if (failed)
{
return(m_pathNodeList);
}
}
RetracePath(_endNode, _startNode);
m_timeTaken = DateTime.Now - m_start;
LastPathTime = m_timeTaken.Milliseconds.ToString();
return(m_pathNodeList);
}