private unsafe static void TestNeighbour(NativeArray2D <MapNode> gridCopy, ref MapNode kNeighbour, MapNode *currentNodePtr, NativeList <MapNode> neighbours)
{
//If node is open, (eg. already tested previously), we compare the g distances to see if traversing the neighbouring node will be more efficient from this node than its parents node.
if (kNeighbour.state == NodeState.Open)
{
float gDistance = math.distancesq(kNeighbour.position, kNeighbour.parent->position);
float tempGDistance = currentNodePtr->g + gDistance;
if (tempGDistance < kNeighbour.g)
{
MapNode *neighbourPtr = gridCopy.GetPointerToElement(kNeighbour.gridPosition);
neighbourPtr->SetParent(currentNodePtr);
neighbours.Add(*neighbourPtr);
}
}
//If we're untested, we don't have a parent already, so set parent and add to list.
else
{
MapNode *neighbourPtr = gridCopy.GetPointerToElement(kNeighbour.gridPosition);
neighbourPtr->SetParent(currentNodePtr);
neighbourPtr->state = NodeState.Open;
neighbours.Add(*neighbourPtr);
}
}
private static unsafe bool SearchForPath(int2 currentNode, int2 targetNode, NativeArray2D <MapNode> gridCopy)
{
MapNode *currentNodePtr = gridCopy.GetPointerToElement(currentNode);
NativeList <MapNode> passableNeighbours = GetPassableNeighbours(currentNode, gridCopy, currentNodePtr);
NodeCompare nodeCompare = new NodeCompare();
passableNeighbours.Sort(nodeCompare);
currentNodePtr->state = NodeState.Closed;
for (int i = 0; i < passableNeighbours.Length; ++i)
{
MapNode neighbour = passableNeighbours[i];
currentNodePtr->child = gridCopy.GetPointerToElement(neighbour.gridPosition);
//Target has been reached.
if (neighbour.gridPosition.Equals(targetNode))
{
passableNeighbours.Dispose();
return(true);
}
//Recursively search deeper.
if (SearchForPath(neighbour.gridPosition, targetNode, gridCopy))
{
passableNeighbours.Dispose();
return(true);
}
}
passableNeighbours.Dispose();
return(false);
}
