public override void Open (Path path, PathNode pathNode, PathHandler handler) {
if (connections == null) return;
for (int i=0;i<connections.Length;i++) {
GraphNode other = connections[i];
if (path.CanTraverse (other)) {
PathNode pathOther = handler.GetPathNode (other);
if (pathOther.pathID != handler.PathID) {
pathOther.parent = pathNode;
pathOther.pathID = handler.PathID;
pathOther.cost = connectionCosts[i];
pathOther.H = path.CalculateHScore (other);
other.UpdateG (path, pathOther);
handler.PushNode (pathOther);
} else {
//If not we can test if the path from this node to the other one is a better one then the one already used
uint tmpCost = connectionCosts[i];
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G + tmpCost < pathOther.G)
#else
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < pathOther.G)
#endif
{
pathOther.cost = tmpCost;
pathOther.parent = pathNode;
other.UpdateRecursiveG (path, pathOther,handler);
}
#if ASTAR_NO_TRAVERSAL_COST
else if (pathOther.G+tmpCost < pathNode.G && other.ContainsConnection (this))
#else
else if (pathOther.G+tmpCost+path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection (this))
#endif
{
//Or if the path from the other node to this one is better
pathNode.parent = pathOther;
pathNode.cost = tmpCost;
UpdateRecursiveG (path, pathNode,handler);
}
}
}
}
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
//BaseOpen (nodeRunData, nodeR, targetPosition, path);
LayerGridGraph graph = GetGridGraph(GraphIndex);
int[] neighbourOffsets = graph.neighbourOffsets;
uint[] neighbourCosts = graph.neighbourCosts;
LevelGridNode[] nodes = graph.nodes;
int index = NodeInGridIndex;//indices & 0xFFFFFF;
for (int i=0;i<4;i++) {
int conn = GetConnectionValue(i);//(gridConnections >> i*4) & 0xF;
if (conn != LevelGridNode.NoConnection) {
GraphNode other = nodes[index+neighbourOffsets[i] + graph.lastScannedWidth*graph.lastScannedDepth*conn];
if (!path.CanTraverse (other)) {
continue;
}
PathNode otherPN = handler.GetPathNode (other);
if (otherPN.pathID != handler.PathID) {
otherPN.parent = pathNode;
otherPN.pathID = handler.PathID;
otherPN.cost = neighbourCosts[i];
otherPN.H = path.CalculateHScore (other);
other.UpdateG (path, otherPN);
handler.PushNode (otherPN);
} 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 = neighbourCosts[i];
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G + tmpCost < otherPN.G)
#else
if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G)
#endif
{
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG (path,otherPN, handler);
}
//Or if the path from this node ("other") to the current ("current") is better
#if ASTAR_NO_TRAVERSAL_COST
else if (otherPN.G+tmpCost < pathNode.G)
#else
else if (otherPN.G+tmpCost+path.GetTraversalCost(this) < pathNode.G)
#endif
{
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
if (connections == null) return;
// Flag2 indicates if this node needs special treatment
// with regard to connection costs
bool flag2 = pathNode.flag2;
// Loop through all connections
for (int i=connections.Length-1;i >= 0;i--) {
GraphNode other = connections[i];
// Make sure we can traverse the neighbour
if (path.CanTraverse (other)) {
PathNode pathOther = handler.GetPathNode (other);
// Fast path out, worth it for triangle mesh nodes since they usually have degree 2 or 3
if (pathOther == pathNode.parent) {
continue;
}
uint cost = connectionCosts[i];
if (flag2 || pathOther.flag2) {
// Get special connection cost from the path
// This is used by the start and end nodes
cost = path.GetConnectionSpecialCost (this,other,cost);
}
// Test if we have seen the other node before
if (pathOther.pathID != handler.PathID) {
// We have not seen the other node before
// So the path from the start through this node to the other node
// must be the shortest one so far
// Might not be assigned
pathOther.node = other;
pathOther.parent = pathNode;
pathOther.pathID = handler.PathID;
pathOther.cost = cost;
pathOther.H = path.CalculateHScore (other);
other.UpdateG (path, pathOther);
handler.PushNode (pathOther);
} else {
// If not we can test if the path from this node to the other one is a better one than the one already used
if (pathNode.G + cost + path.GetTraversalCost(other) < pathOther.G) {
pathOther.cost = cost;
pathOther.parent = pathNode;
other.UpdateRecursiveG (path, pathOther,handler);
}
else if (pathOther.G+cost+path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection (this)) {
// Or if the path from the other node to this one is better
pathNode.parent = pathOther;
pathNode.cost = cost;
UpdateRecursiveG (path, pathNode,handler);
}
}
}
}
}
public override void Open (Path path, PathNode pathNode, PathHandler handler) {
GridGraph gg = GetGridGraph (GraphIndex);
ushort pid = handler.PathID;
#if ASTAR_JPS
if ( gg.useJumpPointSearch && !path.FloodingPath ) {
JPSOpen (path, pathNode, handler);
} else
#endif
{
int[] neighbourOffsets = gg.neighbourOffsets;
uint[] neighbourCosts = gg.neighbourCosts;
GridNode[] nodes = gg.nodes;
for (int i=0;i<8;i++) {
if (GetConnectionInternal(i)) {
GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]];
if (!path.CanTraverse (other)) continue;
PathNode otherPN = handler.GetPathNode (other);
uint tmpCost = neighbourCosts[i];
if (otherPN.pathID != pid) {
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore (other);
other.UpdateG (path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.PushNode (otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
} else {
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G+tmpCost < otherPN.G)
#else
if (pathNode.G+tmpCost+path.GetTraversalCost(other) < otherPN.G)
#endif
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG (path,otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
#if ASTAR_NO_TRAVERSAL_COST
else if (otherPN.G+tmpCost < pathNode.G)
#else
else if (otherPN.G+tmpCost+path.GetTraversalCost (this) < pathNode.G)
#endif
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
}
}
#if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS
if (connections != null) for (int i=0;i<connections.Length;i++) {
GraphNode other = connections[i];
if (!path.CanTraverse (other)) continue;
PathNode otherPN = handler.GetPathNode (other);
uint tmpCost = connectionCosts[i];
if (otherPN.pathID != pid) {
otherPN.parent = pathNode;
otherPN.pathID = pid;
otherPN.cost = tmpCost;
otherPN.H = path.CalculateHScore (other);
other.UpdateG (path, otherPN);
//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
handler.PushNode (otherPN);
//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
} else {
// Sorry for the huge number of #ifs
//If not we can test if the path from the current node to this one is a better one then the one already used
#if ASTAR_NO_TRAVERSAL_COST
if (pathNode.G+tmpCost < otherPN.G)
#else
if (pathNode.G+tmpCost+path.GetTraversalCost(other) < otherPN.G)
#endif
{
//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
otherPN.cost = tmpCost;
otherPN.parent = pathNode;
other.UpdateRecursiveG (path,otherPN, handler);
//Or if the path from this node ("other") to the current ("current") is better
}
#if ASTAR_NO_TRAVERSAL_COST
else if (otherPN.G+tmpCost < pathNode.G && other.ContainsConnection (this))
#else
else if (otherPN.G+tmpCost+path.GetTraversalCost (this) < pathNode.G && other.ContainsConnection (this))
#endif
{
//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
pathNode.parent = otherPN;
pathNode.cost = tmpCost;
UpdateRecursiveG(path, pathNode, handler);
}
}
}
#endif
}