/** Opens the nodes connected to this node. This is a base call and can be called by node classes overriding the Open function to open all connections in the #connections array.
* \see #connections
* \see Open */
public void BaseOpen(NodeRunData nodeRunData, NodeRun nodeR, Int3 targetPosition, Path path)
{
if (connections == null)
{
return;
}
for (int i = 0; i < connections.Length; i++)
{
Node node = connections[i];
if (!path.CanTraverse(node))
{
continue;
}
NodeRun nodeR2 = node.GetNodeRun(nodeRunData);
if (nodeR2.pathID != nodeRunData.pathID)
{
nodeR2.parent = nodeR;
nodeR2.pathID = nodeRunData.pathID;
nodeR2.cost = (uint)connectionCosts[i];
node.UpdateH(targetPosition, path.heuristic, path.heuristicScale, nodeR2);
node.UpdateG(nodeR2, nodeRunData);
nodeRunData.open.Add(nodeR2);
//Debug.DrawLine (position,node.position,Color.cyan);
//Debug.Log ("Opening Node "+node.position.ToString ()+" "+g+" "+node.cost+" "+node.g+" "+node.f);
}
else
{
//If not we can test if the path from the current node to this one is a better one then the one already used
uint tmpCost = (uint)connectionCosts[i];
if (nodeR.g + tmpCost + node.penalty
#if !NoTagPenalty
+ path.GetTagPenalty(node.tags)
#endif
< nodeR2.g)
{
nodeR2.cost = tmpCost;
nodeR2.parent = nodeR;
//TODO!!!!! ??
node.UpdateAllG(nodeR2, nodeRunData);
nodeRunData.open.Add(nodeR2);
}
else if (nodeR2.g + tmpCost + penalty
#if !NoTagPenalty
+ path.GetTagPenalty(tags)
#endif
< nodeR.g) //Or if the path from this node ("node") to the current ("current") is better
{
bool contains = node.ContainsConnection(this);
//Make sure we don't travel along the wrong direction of a one way link now, make sure the Current node can be moved to from the other Node.
/*if (node.connections != null) {
* for (int y=0;y<node.connections.Length;y++) {
* if (node.connections[y] == this) {
* contains = true;
* break;
* }
* }
* }*/
if (!contains)
{
continue;
}
nodeR.parent = nodeR2;
nodeR.cost = tmpCost;
//TODO!!!!!!! ??
UpdateAllG(nodeR, nodeRunData);
nodeRunData.open.Add(nodeR);
}
}
}
}
