/** The start node need to be special cased and checked here if it is a valid target */
protected override void CompletePathIfStartIsValidTarget()
{
var pNode = pathHandler.GetPathNode(startNode);
if (endingCondition.TargetFound(pNode))
{
ChangeEndNode(startNode);
Trace(pNode);
CompleteState = PathCompleteState.Complete;
}
}
protected override void CalculateStep(long targetTick)
{
int counter = 0;
//Continue to search as long as we haven't encountered an error and we haven't found the target
while (CompleteState == PathCompleteState.NotCalculated)
{
searchedNodes++;
//--- Here's the important stuff
//Close the current node, if the current node satisfies the ending condition, the path is finished
if (endingCondition.TargetFound(currentR))
{
CompleteState = PathCompleteState.Complete;
break;
}
if (!currentR.flag1)
{
//Add Node to allNodes
allNodes.Add(currentR.node);
currentR.flag1 = true;
}
#if ASTARDEBUG
Debug.DrawRay((Vector3)currentR.node.position, Vector3.up * 5, Color.cyan);
#endif
//--- Here the important stuff ends
//Debug.DrawRay ((Vector3)currentR.node.Position, Vector3.up*2,Color.red);
//Loop through all walkable neighbours of the node and add them to the open list.
currentR.node.Open(this, currentR, pathHandler);
//any nodes left to search?
if (pathHandler.heap.isEmpty)
{
CompleteState = PathCompleteState.Complete;
break;
}
//Select the node with the lowest F score and remove it from the open list
currentR = pathHandler.heap.Remove();
//Check for time every 500 nodes, roughly every 0.5 ms usually
if (counter > 500)
{
//Have we exceded the maxFrameTime, if so we should wait one frame before continuing the search since we don't want the game to lag
if (DateTime.UtcNow.Ticks >= targetTick)
{
//Return instead of yield'ing, a separate function handles the yield (CalculatePaths)
return;
}
counter = 0;
if (searchedNodes > 1000000)
{
throw new Exception("Probable infinite loop. Over 1,000,000 nodes searched");
}
}
counter++;
}
}
