public override void Initialize()
{
PathNode startRNode = pathHandler.GetPathNode(startNode);
startRNode.node = startNode;
startRNode.pathID = pathHandler.PathID;
startRNode.parent = null;
startRNode.cost = 0;
startRNode.G = GetTraversalCost(startNode);
startRNode.H = CalculateHScore(startNode);
parents[startNode] = null;
startNode.Open(this, startRNode, pathHandler);
searchedNodes++;
// Any nodes left to search?
if (pathHandler.HeapEmpty())
{
CompleteState = PathCompleteState.Complete;
}
currentR = pathHandler.PopNode();
}
public override void Initialize()
{
// Mark nodes to enable special connection costs for start and end nodes
// See GetConnectionSpecialCost
if (startNode != null)
{
pathHandler.GetPathNode(startNode).flag2 = true;
}
if (endNode != null)
{
pathHandler.GetPathNode(endNode).flag2 = true;
}
if (hasEndPoint && startNode == endNode)
{
PathNode endNodeR = pathHandler.GetPathNode(endNode);
endNodeR.node = endNode;
endNodeR.parent = null;
endNodeR.H = 0;
endNodeR.G = 0;
Trace(endNodeR);
CompleteState = PathCompleteState.Complete;
return;
}
//Adjust the costs for the end node
/*if (hasEndPoint && recalcStartEndCosts) {
* endNodeCosts = endNode.InitialOpen (open,hTarget,(Int3)endPoint,this,false);
* callback += ResetCosts; /* \todo Might interfere with other paths since other paths might be calculated before #callback is called *
* }*/
PathNode startRNode = pathHandler.GetPathNode(startNode);
startRNode.node = startNode;
startRNode.pathID = pathHandler.PathID;
startRNode.parent = null;
startRNode.cost = 0;
startRNode.G = GetTraversalCost(startNode);
startRNode.H = CalculateHScore(startNode);
/*if (recalcStartEndCosts) {
* startNode.InitialOpen (open,hTarget,startIntPoint,this,true);
* } else {*/
startNode.Open(this, startRNode, pathHandler);
//}
searchedNodes++;
partialBestTarget = startRNode;
//any nodes left to search?
if (pathHandler.HeapEmpty())
{
if (calculatePartial)
{
CompleteState = PathCompleteState.Partial;
Trace(partialBestTarget);
}
else
{
Error();
LogError("No open points, the start node didn't open any nodes");
return;
}
}
currentR = pathHandler.PopNode();
}