private static bool ComputeAStar(SpatialGraphKDNode sourceNode, SpatialGraphKDNode destNode, ref List<Vector2> path)
{
AStarSearch search = new AStarSearch();
search.SetStartAndGoalStates( sourceNode, destNode );
while( AStarSearch.SearchState.Searching == search.SearchStep() )
{
}
if( search.State == AStarSearch.SearchState.Succeeded )
{
//Get path
path = new List<Vector2>();
foreach (SpatialGraphKDNode node in search.Solution())
{
path.Add(node.BBox.Centroid());
}
return true;
}
return false;
}
public void GetSuccessors(AStarSearch search, SpatialGraphKDNode parent)
{
for (int i = 0; i < _node.Neighbors.Count; ++i)
{
SpatialGraphKDNode successor = _node.Neighbors[i];
if ((parent != null || parent != successor) && !successor.Blocked && _node.NeighborLOS[i])
search.AddSuccessor(successor);
}
}
