protected virtual void ProcessChildNode(NodeRecord parent, NavigationGraphEdge connectionEdge)
{
var childNode = connectionEdge.ToNode;
var childNodeRecord = new NodeRecord
{
node = childNode,
parent = parent,
gValue = parent.gValue + connectionEdge.Cost,
hValue = this.Heuristic.H(childNode, this.GoalNode)
};
childNodeRecord.fValue = F(childNodeRecord);
NodeRecord openNode = Open.SearchInOpen(childNodeRecord);
NodeRecord closedNode = Closed.SearchInClosed(childNodeRecord);
if (openNode == null && closedNode == null)
{
Open.AddToOpen(childNodeRecord);
}
else if (openNode != null && openNode.fValue > childNodeRecord.fValue)
{
Open.Replace(openNode, childNodeRecord);
}
else if (closedNode != null && closedNode.fValue > childNodeRecord.fValue)
{
Closed.RemoveFromClosed(closedNode);
Open.AddToOpen(childNodeRecord);
}
}
protected virtual void ProcessChildNode(NodeRecord parentNode, NavigationGraphEdge connectionEdge, int edgeIndex)
{
//this is where you process a child node
var childNode = GenerateChildNodeRecord(parentNode, connectionEdge);
NodeRecord childOpen = Open.SearchInOpen(childNode);
NodeRecord childClose = Closed.SearchInClosed(childNode);
if (childOpen == null && childClose == null)
{
Open.AddToOpen(childNode);
if (this.MaxOpenNodes < Open.CountOpen())
{
this.MaxOpenNodes = Open.CountOpen();
}
// childOpen.status = NodeStatus.Open;
}
else if (childOpen != null && childOpen.fValue > childNode.fValue)
{
Open.Replace(childOpen, childNode);
}
else if (childClose != null && childClose.fValue > childNode.fValue)
{
Closed.RemoveFromClosed(childClose);
Open.AddToOpen(childNode);
//childOpen.status = NodeStatus.Open;
}
}
protected virtual void ProcessChildNode(NodeRecord parentNode, NavigationGraphEdge connectionEdge, int edgeIndex)
{
//this is where you process a child node
var childNode = GenerateChildNodeRecord(parentNode, connectionEdge);
//TODO: implement the rest of the code here
var nodeOpen = Open.SearchInOpen(childNode);
var nodeClose = Closed.SearchInClosed(childNode);
if (nodeOpen != null)
{
if (nodeOpen.fValue >= childNode.fValue)
{
Open.RemoveFromOpen(nodeOpen);
Open.AddToOpen(childNode);
}
return;
}
else if (nodeClose != null)
{
if (nodeClose.fValue > childNode.fValue)
{
Closed.RemoveFromClosed(nodeClose);
Open.AddToOpen(childNode);
}
return;
}
Open.AddToOpen(childNode);
}
protected virtual void ProcessChildNode(NodeRecord parentNode, NavigationGraphEdge connectionEdge, int connectionIndex)
{
//this is where you process a child node
var childNode = GenerateChildNodeRecord(parentNode, connectionEdge);
NodeRecord openNode = Open.SearchInOpen(childNode);
NodeRecord closeNode = Closed.SearchInClosed(childNode);
if (openNode == null && closeNode == null)
{
this.Open.AddToOpen(childNode);
}
else if (openNode != null && childNode.fValue < openNode.fValue)
{
Open.Replace(openNode, childNode);
}
else if (openNode != null && childNode.fValue == openNode.fValue)
{
if (childNode.hValue < openNode.hValue)
{
Open.Replace(openNode, childNode);
}
}
else if (closeNode != null && childNode.fValue < closeNode.fValue)
{
Closed.RemoveFromClosed(closeNode);
Open.AddToOpen(childNode);
}
}
protected override void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge)
{
float f;
float g;
float h;
var childNode = connectionEdge.ToNode;
var childNodeRecord = this.NodeRecordArray.GetNodeRecord(childNode);
if (childNodeRecord == null)
{
//this piece of code is used just because of the special start nodes and goal nodes added to the RAIN Navigation graph when a new search is performed.
//Since these special goals were not in the original navigation graph, they will not be stored in the NodeRecordArray and we will have to add them
//to a special structure
//it's ok if you don't understand this, this is a hack and not part of the NodeArrayA* algorithm, just do NOT CHANGE THIS, or you algorithm wont work
childNodeRecord = new NodeRecord
{
node = childNode,
parent = bestNode,
status = NodeStatus.Unvisited
};
this.NodeRecordArray.AddSpecialCaseNode(childNodeRecord);
}
g = bestNode.gValue + connectionEdge.Cost;
h = this.Heuristic.H(childNode, this.GoalNode);
f = g + h;
var ChildNodeOpen = Open.SearchInOpen(childNodeRecord);
var ChildNodeClosed = Closed.SearchInClosed(childNodeRecord);
if ((ChildNodeClosed == null) && (ChildNodeOpen == null))
{
childNodeRecord.parent = bestNode;
childNodeRecord.gValue = g;
childNodeRecord.hValue = h;
childNodeRecord.fValue = f;
Open.AddToOpen(childNodeRecord);
}
else if ((ChildNodeOpen != null) && f < childNodeRecord.fValue)
{
childNodeRecord.parent = bestNode;
childNodeRecord.gValue = g;
childNodeRecord.hValue = h;
childNodeRecord.fValue = f;
Open.Replace(ChildNodeOpen, childNodeRecord);
}
else if ((ChildNodeClosed != null) && f < childNodeRecord.fValue)
{
childNodeRecord.parent = bestNode;
childNodeRecord.gValue = g;
childNodeRecord.hValue = h;
childNodeRecord.fValue = f;
Open.AddToOpen(childNodeRecord);
}
}
protected override void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge, int edgeIndex)
{
var childNode = connectionEdge.ToNode;
var childNodeRecord = this.NodeRecordArray.GetNodeRecord(childNode);
if (childNodeRecord == null)
{
//this piece of code is used just because of the special start nodes and goal nodes added to the RAIN Navigation graph when a new search is performed.
//Since these special goals were not in the original navigation graph, they will not be stored in the NodeRecordArray and we will have to add them
//to a special structure
//it's ok if you don't understand this, this is a hack and not part of the NodeArrayA* algorithm, just do NOT CHANGE THIS, or your algorithm will not work
childNodeRecord = new NodeRecord
{
node = childNode,
parent = bestNode,
status = NodeStatus.Unvisited
};
this.NodeRecordArray.AddSpecialCaseNode(childNodeRecord);
}
//this is where you process a child node
var parent = bestNode;
var g = bestNode.gValue + (childNode.LocalPosition - bestNode.node.LocalPosition).magnitude;
var h = this.Heuristic.H(childNode, this.GoalNode);
//var h = this.Heuristic.Fast_H(childNode.Position, this.GoalNode.Position);
var f = F(g, h);
NodeRecord nodeInOpen = Open.SearchInOpen(childNodeRecord);
NodeRecord nodeInClosed = Closed.SearchInClosed(childNodeRecord);
if (nodeInOpen == null && nodeInClosed == null)
{
childNodeRecord.parent = parent;
childNodeRecord.gValue = g;
childNodeRecord.hValue = h;
childNodeRecord.fValue = f;
Open.AddToOpen(childNodeRecord);
}
else if (nodeInOpen != null && nodeInOpen.fValue > f)
{
childNodeRecord.parent = parent;
childNodeRecord.gValue = g;
childNodeRecord.hValue = h;
childNodeRecord.fValue = f;
Open.Replace(nodeInOpen, childNodeRecord);
}
}
protected virtual void ProcessChildNode(NodeRecord parentNode, NavigationGraphEdge connectionEdge, int edgeIndex)
{
//this is where you process a child node
var childNode = GenerateChildNodeRecord(parentNode, connectionEdge);
NodeRecord nodeInOpen = Open.SearchInOpen(childNode);
NodeRecord nodeInClosed = Closed.SearchInClosed(childNode);
if (nodeInOpen == null && nodeInClosed == null)
{
Open.AddToOpen(childNode);
}
else if (nodeInOpen != null && childNode.fValue < nodeInOpen.fValue)
{
Open.Replace(nodeInOpen, childNode);
}
}
protected override void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge, int edgeIndex)
{
float f;
float g;
float h;
var childNode = connectionEdge.ToNode;
var childNodeRecord = this.NodeRecordArray.GetNodeRecord(childNode);
if (childNodeRecord == null)
{
//this piece of code is used just because of the special start nodes and goal nodes added to the RAIN Navigation graph when a new search is performed.
//Since these special goals were not in the original navigation graph, they will not be stored in the NodeRecordArray and we will have to add them
//to a special structure
//it's ok if you don't understand this, this is a hack and not part of the NodeArrayA* algorithm, just do NOT CHANGE THIS, or your algorithm will not work
childNodeRecord = new NodeRecord
{
node = childNode,
parent = bestNode,
status = NodeStatus.Unvisited
};
this.NodeRecordArray.AddSpecialCaseNode(childNodeRecord);
}
//TODO: implement the rest of your code here
//this is where you process a child node
childNodeRecord = GenerateChildNodeRecord(bestNode, connectionEdge);
var openChildNode = Open.SearchInOpen(childNodeRecord);
var closedChildNode = Closed.SearchInClosed(childNodeRecord);
if (openChildNode == null && closedChildNode == null)
{
Open.AddToOpen(childNodeRecord);
}
else if (openChildNode != null && openChildNode.fValue > childNodeRecord.fValue)
{
Open.Replace(openChildNode, childNodeRecord);
}
else if (closedChildNode != null && closedChildNode.fValue > childNodeRecord.fValue)
{
//Closed.RemoveFromClosed(closedChildNode);
Open.AddToOpen(childNodeRecord);
}
}
protected virtual void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge)
{
var childNodeRecord = GenerateChildNodeRecord(bestNode, connectionEdge);
var oldChildNodeOpen = Open.SearchInOpen(childNodeRecord);
var oldChildNodeClosed = Closed.SearchInClosed(childNodeRecord);
if ((oldChildNodeClosed == null) && (oldChildNodeOpen == null))
{
Open.AddToOpen(childNodeRecord);
}
else if ((oldChildNodeOpen != null) && oldChildNodeOpen.fValue > childNodeRecord.fValue)
{
Open.Replace(oldChildNodeOpen, childNodeRecord);
}
else if ((oldChildNodeClosed != null) && oldChildNodeClosed.fValue > childNodeRecord.fValue)
{
Closed.RemoveFromClosed(oldChildNodeClosed);
Open.AddToOpen(childNodeRecord);
}
}
//don't forget to add the override keyword here if you define a ProcessChildNode method in the base class
protected void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge)
{
var childNode = connectionEdge.ToNode;
var childNodeRecord = this.NodeRecordArray.GetNodeRecord(childNode);
if (childNodeRecord == null)
{
//this piece of code is used just because of the special start nodes and goal nodes added to the RAIN Navigation graph when a new search is performed.
//Since these special goals were not in the original navigation graph, they will not be stored in the NodeRecordArray and we will have to add them
//to a special structure
//it's ok if you don't understand this, this is a hack and not part of the NodeArrayA* algorithm, just do NOT CHANGE THIS, or you algorithm wont work
childNodeRecord = new NodeRecord
{
node = childNode,
parent = bestNode,
status = NodeStatus.Unvisited
};
this.NodeRecordArray.AddSpecialCaseNode(childNodeRecord);
}
childNodeRecord.gValue = bestNode.gValue + connectionEdge.Cost;
childNodeRecord.hValue = this.Heuristic.H(childNode, this.GoalNode);
childNodeRecord.fValue = F(childNodeRecord);
NodeRecord openNode = Open.SearchInOpen(childNodeRecord);
NodeRecord closedNode = Closed.SearchInClosed(childNodeRecord);
if (openNode == null && closedNode == null)
{
Open.AddToOpen(childNodeRecord);
}
else if (openNode != null && openNode.fValue > childNodeRecord.fValue)
{
Open.Replace(openNode, childNodeRecord);
}
else if (closedNode != null && closedNode.fValue > childNodeRecord.fValue)
{
Closed.RemoveFromClosed(closedNode);
Open.AddToOpen(childNodeRecord);
}
}
protected virtual void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge)
{
//this is where you process a child node
var ChildNode = GenerateChildNodeRecord(bestNode, connectionEdge);
var ChildNodeOpen = Open.SearchInOpen(ChildNode);
var ChildNodeClosed = Closed.SearchInClosed(ChildNode);
if ((ChildNodeClosed == null) && (ChildNodeOpen == null))
{
Open.AddToOpen(ChildNode);
}
else if ((ChildNodeOpen != null) && ChildNodeOpen.fValue >= ChildNode.fValue)
{
Open.Replace(ChildNodeOpen, ChildNode);
}
else if ((ChildNodeClosed != null) && ChildNodeClosed.fValue > ChildNode.fValue)
{
Closed.RemoveFromClosed(ChildNodeClosed);
Open.AddToOpen(ChildNode);
}
}
protected virtual void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge)
{
//this is where you process a child node
NodeRecord childNode = GenerateChildNodeRecord(bestNode, connectionEdge);
NodeRecord openNode = Open.SearchInOpen(childNode);
NodeRecord closedNode = Closed.SearchInClosed(childNode);
bool inOpen = openNode != null ? true : false;
bool inClosed = closedNode != null ? true : false;
if (!inOpen && !inClosed)
{
Open.AddToOpen(childNode);
}
else if (inOpen && childNode.fValue < openNode.fValue)
{
Open.RemoveFromOpen(openNode);
Open.AddToOpen(childNode);
}
else if (inClosed && childNode.fValue < closedNode.fValue)
{
Closed.RemoveFromClosed(closedNode);
Open.AddToOpen(childNode);
}
}
//this method should return true if it finished processing, and false if it still needs to continue
public bool MapFloodDijkstra()
{
var processedNodes = 0;
while (Open.CountOpen() > 0)
{
processedNodes++;
if (processedNodes > NodesPerFlood)
{
return(false);
}
LocationRecord currentRecord = Open.GetBestAndRemove();
Closed.AddToClosed(currentRecord);
int outConnections = currentRecord.Location.OutEdgeCount;
for (int i = 0; i < outConnections; i++)
{
var location = GenerateChildNodeRecord(currentRecord, currentRecord.Location.EdgeOut(i));
float influence = InfluenceFunction.DetermineInfluence(currentRecord.StrongestInfluenceUnit, location.Location.Position);
if (InfluenceThreshold.CompareTo(influence) > 0)
{
continue;
}
LocationRecord neighborRecord = Closed.SearchInClosed(location);
if (neighborRecord != null)
{
if (neighborRecord.Influence >= influence)
{
continue;
}
else
{
Closed.RemoveFromClosed(neighborRecord);
}
}
else
{
neighborRecord = Open.SearchInOpen(location);
if (neighborRecord != null)
{
if (neighborRecord.Influence < influence)
{
neighborRecord.StrongestInfluenceUnit = currentRecord.StrongestInfluenceUnit;
neighborRecord.Influence = influence;
}
continue;
}
else //we found a new record not in open or closed
{
neighborRecord = new LocationRecord();
neighborRecord.Location = location.Location;
}
}
neighborRecord.StrongestInfluenceUnit = currentRecord.StrongestInfluenceUnit;
neighborRecord.Influence = influence;
Open.AddToOpen(neighborRecord);
}
}
this.InProgress = false;
//this.CleanUp();
return(true);
}
