public AStarRecord(GridmapCell c, AStarRecord p, float cost)
{
if (c == null) throw new UnityException("Cannot create an AStarRecord with a null node.");
cell = c;
parent = p;
linkCost = cost;
totalCost = (parent != null) ? parent.totalCost + linkCost : linkCost;
estimatedFinalCost = totalCost + (finalTarget - cell.center).magnitude;
}
public void Reparent(AStarRecord newP, float cost)
{
parent = newP;
linkCost = cost;
totalCost = (parent != null) ? parent.totalCost + linkCost : linkCost;
estimatedFinalCost = totalCost + (finalTarget - cell.center).magnitude;
}
private static bool PlaceInCorrectList(GridmapCell cell, AStarRecord parent, float cost)
{
if (cell == null) return false;
if (!cell.Valid && checkValiditiy) return false;
AStarRecord olinstance = openList.FirstOrDefault(r => r.cell.Equals(cell));
if (olinstance != null) // it's on the open list.
{
if (olinstance.totalCost > parent.totalCost + cost) // this new path is shorter
olinstance.Reparent(parent, cost);
return true;
}
AStarRecord clinstance = closedList.FirstOrDefault(r => r.cell.Equals(cell));
if (clinstance != null) // it's in the closed list
{
return true;
}
// add it to the open list
openList.Add(new AStarRecord(cell, parent, cost));
return true;
}