public void InitializePathfindingSearch(Vector3 startPosition, Vector3 goalPosition)
{
this.StartPosition = startPosition;
this.GoalPosition = goalPosition;
this.StartNode = this.Quantize(this.StartPosition);
this.GoalNode = this.Quantize(this.GoalPosition);
//if it is not possible to quantize the positions and find the corresponding nodes, then we cannot proceed
if (this.StartNode == null || this.GoalNode == null)
{
return;
}
//I need to do this because in Recast NavMesh graph, the edges of polygons are considered to be nodes and not the connections.
//Theoretically the Quantize method should then return the appropriate edge, but instead it returns a polygon
//Therefore, we need to create one explicit connection between the polygon and each edge of the corresponding polygon for the search algorithm to work
((NavMeshPoly)this.StartNode).AddConnectedPoly(this.StartPosition);
((NavMeshPoly)this.GoalNode).AddConnectedPoly(this.GoalPosition);
this.InProgress = true;
this.TotalProcessedNodes = 0;
this.TotalProcessingTime = 0.0f;
this.MaxOpenNodes = 0;
var initialNode = new NodeRecord
{
gValue = 0,
hValue = this.Heuristic.H(this.StartNode, this.GoalNode),
node = this.StartNode
};
initialNode.fValue = AStarPathfinding.F(initialNode);
this.Open.Initialize();
this.Open.AddToOpen(initialNode);
this.Closed.Initialize();
}