public override Fix64 CalculateH(BaseAStarNode <PNavPolygon> other)
{
NavMeshAStarNode otherNode = (NavMeshAStarNode)other;
if (otherNode.isLastNode)
{
return(Fix64Vec2.Distance(startPoint, otherNode.endPoint));
}
else
{
return(Fix64Vec2.Distance(startPoint, otherNode.UserObject.centroid));
}
//Fix64 result = Fix64Vec2.Distance(UserObject.centroid, other.UserObject.centroid);
//if (other)
//return result;
}
public override Fix64 CalculateG(BaseAStarNode <PNavPolygon> other)
{
NavMeshAStarNode otherNode = (NavMeshAStarNode)other;
Fix64 result = Fix64.zero;
foreach (PNavEdge edge in other.UserObject.edges)
{
if (edge.hasOther && edge.otherPolygonIndex == UserObject.index)
{
result = Fix64Vec2.DistanceToSegment(startPoint, edge.pointA, edge.pointB, out otherNode.startPoint);
if (otherNode.isLastNode)
{
result = result + Fix64Vec2.Distance(otherNode.endPoint, otherNode.startPoint);
}
//result = edge.distance;
}
}
return(result);
}
public abstract Fix64 CalculateH(BaseAStarNode <T> other);
public abstract bool Equals(BaseAStarNode <T> other);
public override bool Equals(BaseAStarNode <PNavPolygon> other)
{
return(UserObject.index == other.UserObject.index);
}