internal AStarResult(IDictionary<IntPoint3, AStarNode> nodes, AStarNode lastNode, AStarStatus status)
{
if (nodes == null)
throw new ArgumentNullException();
this.Nodes = nodes;
this.LastNode = lastNode;
this.Status = status;
}
public AStarNode(IntPoint3 l, AStarNode parent)
{
Loc = l;
Parent = parent;
}
void UpdateParents(AStarNode parent)
{
//Debug.Print("updating closed node {0}", parent.Loc);
Stack<AStarNode> queue = new Stack<AStarNode>();
UpdateNodes(parent, queue);
while (queue.Count > 0)
{
parent = queue.Pop();
UpdateNodes(parent, queue);
}
}
void UpdateNodes(AStarNode parent, Stack<AStarNode> queue)
{
foreach (var dir in m_environment.GetValidDirs(parent.Loc))
{
IntPoint3 childLoc = parent.Loc + new IntVector3(dir);
AStarNode child;
m_nodeMap.TryGetValue(childLoc, out child);
if (child == null)
continue;
ushort g = (ushort)(parent.G + CostBetweenNodes(parent.Loc, childLoc) + m_environment.GetTileWeight(childLoc));
if (g < child.G)
{
//Debug.Print("closed node {0} updated 1", childLoc);
child.Parent = parent;
child.G = g;
queue.Push(child);
}
}
}
void CheckNeighbors(AStarNode parent)
{
foreach (var dir in m_environment.GetValidDirs(parent.Loc))
{
IntPoint3 childLoc = parent.Loc + new IntVector3(dir);
AStarNode child;
m_nodeMap.TryGetValue(childLoc, out child);
//if (child != null && child.Closed)
// continue;
ushort g = (ushort)(parent.G + CostBetweenNodes(parent.Loc, childLoc) + m_environment.GetTileWeight(childLoc));
ushort h = m_target.GetHeuristic(childLoc);
if (child == null)
{
child = new AStarNode(childLoc, parent);
child.G = g;
child.H = h;
m_openList.Add(child);
m_nodeMap.Add(childLoc, child);
}
else if (child.G > g)
{
child.Parent = parent;
child.G = g;
//Debug.Print("{0} update", child.Loc);
if (child.Closed == false)
m_openList.NodeUpdated(child);
else // Closed == true
UpdateParents(child);
}
}
}
void AddInitialNodes()
{
var nodeMap = m_nodeMap;
var openList = m_openList;
IEnumerable<IntPoint3> nodeList;
nodeList = m_srcPositioning.ToDirections().Select(d => m_src + d);
foreach (var p in nodeList.Where(p => m_environment.CanEnter(p)))
{
ushort g = 0;
ushort h = m_target.GetHeuristic(p);
var node = new AStarNode(p, null);
node.G = g;
node.H = h;
openList.Add(node);
nodeMap.Add(p, node);
}
}
