private static void IdentifySuccessors(PathingMaster args, PathingNode activeNode)
{
activeNode.IsClosed = true;
activeNode.IsOpen = false;
var priority = args.Priority;
var neighbors = FindNeighbors(args, activeNode);
foreach (var neighbor in neighbors)
{
int jX = 0, jY = 0;
if (!Jump(args, neighbor.X, neighbor.Y, activeNode.X, activeNode.Y, ref jX, ref jY))
{
continue;
}
var jumpNode = args.GetNode(jX, jY);
if (jumpNode.IsClosed)
{
continue;
}
var newG = activeNode.G + jumpNode.EuclideanDistance(activeNode);
if ((jumpNode.IsOpen || jumpNode.IsClosed) && newG >= jumpNode.G)
{
continue;
}
jumpNode.G = newG;
jumpNode.H = jumpNode.HDistance(args.Target);
jumpNode.F = jumpNode.H + jumpNode.G;
jumpNode.Parent = activeNode;
if (jumpNode.IsOpen || jumpNode.IsClosed)
{
priority.Update(jumpNode);
}
else
{
priority.Add(jumpNode);
}
jumpNode.IsOpen = true;
jumpNode.IsClosed = false;
}
}
private static bool IdentifySuccessors(PathingMaster args, PathingNode activeNode)
{
var priority = args.Priority;
var endNode = args.Target;
priority.Clear();
activeNode.IsClosed = true;
var any = false;
var neighbors = activeNode.GetNeighbors();
foreach (var neighbor in neighbors)
{
var checkNode = args.GetNode(neighbor.X, neighbor.Y);
if (checkNode == null)
{
continue;
}
if (args.ValidateNodeForPath(checkNode))
{
continue;
}
if (checkNode.IsClosed)
{
continue;
}
//get angle, active to end
var activeToEndAngle = activeNode.GetAngleRadian(endNode);
//check arc
if (activeNode.HasInArc(neighbor, activeToEndAngle, 2 * Math.PI / 3, 2.0f))
{
//distance(h) + active to end angle difference from active to neighbor * 2(g) = f
var activeToNeighborAngle = activeNode.GetRelativeAngleRadian(neighbor, activeToEndAngle);
checkNode.G = Math.Abs(activeToEndAngle - activeToNeighborAngle) * 2;
checkNode.H = checkNode.HDistance(endNode);
checkNode.F = checkNode.G + checkNode.H;
//push to priority stack
priority.Add(checkNode);
any = true;
}
}
return(any);
}
