public override void UpdateRecursiveG(Path path, PathNode pathNode, PathHandler handler) { pathNode.UpdateG(path); handler.heap.Add(pathNode); if (connections == null) { return; } for (int i = 0; i < connections.Length; i++) { GraphNode other = connections[i].node; PathNode otherPN = handler.GetPathNode(other); if (otherPN.parent == pathNode && otherPN.pathID == handler.PathID) { other.UpdateRecursiveG(path, otherPN, handler); } } }
public override void Open(Path path, PathNode pathNode, PathHandler handler) { if (connections == null) { return; } // Flag2 indicates if this node needs special treatment // with regard to connection costs bool flag2 = pathNode.flag2; // Loop through all connections for (int i = connections.Length - 1; i >= 0; i--) { var conn = connections[i]; var other = conn.node; // Make sure we can traverse the neighbour if (path.CanTraverse(conn.node)) { PathNode pathOther = handler.GetPathNode(conn.node); // Fast path out, worth it for triangle mesh nodes since they usually have degree 2 or 3 if (pathOther == pathNode.parent) { continue; } uint cost = conn.cost; if (flag2 || pathOther.flag2) { // Get special connection cost from the path // This is used by the start and end nodes cost = path.GetConnectionSpecialCost(this, conn.node, cost); } // Test if we have seen the other node before if (pathOther.pathID != handler.PathID) { // We have not seen the other node before // So the path from the start through this node to the other node // must be the shortest one so far // Might not be assigned pathOther.node = conn.node; pathOther.parent = pathNode; pathOther.pathID = handler.PathID; pathOther.cost = cost; pathOther.H = path.CalculateHScore(other); pathOther.UpdateG(path); handler.heap.Add(pathOther); } else { // If not we can test if the path from this node to the other one is a better one than the one already used if (pathNode.G + cost + path.GetTraversalCost(other) < pathOther.G) { pathOther.cost = cost; pathOther.parent = pathNode; other.UpdateRecursiveG(path, pathOther, handler); } } } } }