/// <summary>
/// 编写自己的构造函数
/// </summary>
/// <param name="startPara">起始点</param>
/// <param name="pointNumPara">当前点坐标</param>
/// <param name="goalPara">目标点坐标</param>
/// <param name="m_Input">输入场景信息</param>
/// <param name="mParentNode">父节点</param>
public Node(FPoint3 startPara, FPoint3 pointNumPara, FPoint3 goalPara, Node mParentNode) : base()
{
NodeLocation = pointNumPara;
ParentNode = mParentNode;
CostfromStart = mParentNode.CostfromStart + FPoint2.DistanceBetweenTwoPlanePoints(NodeLocation, mParentNode.NodeLocation);
//DistancetoGoal = FPoint3.DistanceBetweenTwoSpacePointsXY(NodeLocation, goalPara);
DistancetoGoal = FPoint2.DistanceBetweenTwoPlanePoints(NodeLocation, goalPara);
computeCostForAStar = CostfromStart + DistancetoGoal;
}
/// <summary>
/// 构造函数 - 专为初始节点设置的构造函数
/// </summary>
/// <param name="mFPoint3">点</param>
/// <param name="flightDirection">飞行方向(</param>
/// <param name="mParentNode">父节点</param>
public Node(FPoint3 mFPoint3, FPoint3 goalPara, double costfromStart, Node mParentNode)
: base()
{
//将参数传入节点内进行初始化
NodeLocation = new FPoint3(mFPoint3.X, mFPoint3.Y, mFPoint3.Z);
ParentNode = mParentNode;
CostfromStart = costfromStart;
//DistancetoGoal = Math.Min(Math.Abs(NodeLocation.X - goalPara.X), (NodeLocation.Y - goalPara.Y)) * (Math.Sqrt(2) - 1)
// + Math.Max(Math.Abs(NodeLocation.X - goalPara.X), (NodeLocation.Y - goalPara.Y));
DistancetoGoal = FPoint2.DistanceBetweenTwoPlanePoints(NodeLocation, goalPara);
}