public void Initialize(CAStarNode pParentNode, CPathLineSegment pConnectingSegment,
CPathWayPoint pCurWayPoint, uint CurWayPointIndex,
CPathWayPoint pFinalDestWayPoint, double AccumulatedCostFromStartG,
ESTIMATE_ADDITIONAL_COST_FUNC_PTR AdditionalCostFunc, double CollisionCostRatio, ESTIMATE_COST_TO_DEST_FUNC_PTR EstimateCostToDestFunc)
{
// you shouldn't change this node unless the change is better
//assert(m_AccumulatedCostFromStartG >= AccumulatedCostFromStartG);
m_AccumulatedCostFromStartG = AccumulatedCostFromStartG;
if (pParentNode == null && pConnectingSegment == null)
{
m_AccumulatedCostFromStartG += AdditionalCostFunc(pParentNode, pConnectingSegment, CollisionCostRatio);
}
m_EstimatedCostToDestH = EstimateCostToDestFunc(pCurWayPoint, pFinalDestWayPoint);
m_TotalCostForThisNodeF = m_AccumulatedCostFromStartG + m_EstimatedCostToDestH;
//assert(pCurWayPoint.GetPosition().x < 1000000 && pCurWayPoint.GetPosition().x > -1000000);
//assert(pCurWayPoint.GetPosition().y < 1000000 && pCurWayPoint.GetPosition().y > -1000000);
m_pCurWayPoint = pCurWayPoint;
m_CurWayPointIndex = CurWayPointIndex;
m_pParent = pParentNode;
}
public void Initialize(CAStarNode pParentNode, CPathLineSegment pConnectingSegment,
CPathWayPoint pCurWayPoint, uint CurWayPointIndex,
CPathWayPoint pFinalDestWayPoint, double AccumulatedCostFromStartG,
ESTIMATE_ADDITIONAL_COST_FUNC_PTR AdditionalCostFunc, double CollisionCostRatio, ESTIMATE_COST_TO_DEST_FUNC_PTR EstimateCostToDestFunc)
{
// you shouldn't change this node unless the change is better
//assert(m_AccumulatedCostFromStartG >= AccumulatedCostFromStartG);
m_AccumulatedCostFromStartG = AccumulatedCostFromStartG;
if (pParentNode == null && pConnectingSegment == null)
{
m_AccumulatedCostFromStartG += AdditionalCostFunc(pParentNode, pConnectingSegment, CollisionCostRatio);
}
m_EstimatedCostToDestH = EstimateCostToDestFunc(pCurWayPoint, pFinalDestWayPoint);
m_TotalCostForThisNodeF = m_AccumulatedCostFromStartG + m_EstimatedCostToDestH;
//assert(pCurWayPoint.GetPosition().x < 1000000 && pCurWayPoint.GetPosition().x > -1000000);
//assert(pCurWayPoint.GetPosition().y < 1000000 && pCurWayPoint.GetPosition().y > -1000000);
m_pCurWayPoint = pCurWayPoint;
m_CurWayPointIndex = CurWayPointIndex;
m_pParent = pParentNode;
}
