public void ExpandNode(NavNode n)
{
foreach (NavIncAStar pf in g_Pathfinders)
{
pf.RemoveFromFringe(n);
if (pf.DynamicWeight)
{
pf.HeuristicWeight += pf.DynamicWeightStep;
}
}
RemoveFromFringe(n);
// loop adjacent
Dictionary <NavNode, GRID_DIRECTION> neighbors = g_Grid.GetNeighborNodes(n);
foreach (NavNode neighbor in neighbors.Keys)
{
if (neighbor.IsWalkable())
{
if (!g_gVal.ContainsKey(neighbor))
{
g_gVal.Add(neighbor, float.MaxValue);
}
float val = g_gVal[n] + ComputeNodeCost(n, neighbor, neighbors[neighbor]);
if (g_gVal[neighbor] > val)
{
g_gVal[neighbor] = val;
g_Parents.Remove(neighbor);
g_Parents.Add(neighbor, n);
if (!g_ClosedListA.Contains(neighbor))
{
if (g_OpenList.Contains(neighbor))
{
RemoveFromFringe(neighbor);
}
g_OpenList.Add(neighbor);
g_Fringe.Add(val, neighbor);
if (!g_ClosedListH.Contains(neighbor))
{
foreach (NavIncAStar pf in g_Pathfinders)
{
float totVal = val + pf.ComputeNodeHeuristic(neighbor);
if (totVal <= (pf.g_SecondaryHeuristicsWeight * val))
{
pf.RemoveFromFringe(neighbor);
pf.g_OpenList.Add(neighbor);
pf.g_Fringe.Add(totVal, neighbor);
}
}
}
}
}
}
}
}
public void ExpandNode(NavNode n)
{
RemoveFromFringe(n);
if (DynamicWeight)
{
HeuristicWeight += DynamicWeightStep;
}
// loop adjacent
Dictionary <NavNode, GRID_DIRECTION> neighbors = g_Grid.GetNeighborNodes(n);
foreach (NavNode neighbor in neighbors.Keys)
{
if (neighbor.IsWalkable())
{
if (!g_gVal.ContainsKey(neighbor))
{
g_gVal.Add(neighbor, float.MaxValue);
}
float val = g_gVal[n] + ComputeNodeCost(n, neighbor, neighbors[neighbor]);
if (g_gVal[neighbor] > val)
{
g_gVal[neighbor] = val;
g_Parents.Remove(neighbor);
g_Parents.Add(neighbor, n);
if (!g_ClosedList.Contains(neighbor))
{
if (g_OpenList.Contains(neighbor))
{
RemoveFromFringe(neighbor);
}
g_OpenList.Add(neighbor);
if (UseBeaconHeuristic)
{
if (UseBeaconHeuristic && g_Fringe.Count > BeaconFringeLimit)
{
NavNode last = g_Fringe.Values[g_Fringe.Count - 1];
g_gVal.Remove(last);
g_Parents.Remove(last);
g_OpenList.RemoveWhere(i => i.Equals(last));
g_Fringe.RemoveAt(g_Fringe.Count - 1);
}
}
g_Fringe.Add(val + ComputeNodeHeuristic(neighbor), neighbor);
}
}
}
}
}