//---------------------------------------------------------------------
void _NewStep(EbAstarStep step)
{
for (int idx = 0; idx < step.RoundSteps.Count; ++idx)
{
EbAstarRoundStep roundStep = step.RoundSteps[idx];
EbAstarStep childStep = roundStep.node;
if (childStep.IsClose)
{
continue;
}
float newG = roundStep.cost + step.G;
if (childStep.IsOpen)
{
if (childStep.G > newG)
{
childStep.G = newG;
childStep.Key = childStep.G + childStep.H;
childStep.Parent = step;
}
}
else
{
childStep.G = newG;
childStep.H = EbAstarStep.Distance(childStep, mStepDest);
childStep.Key = childStep.G + childStep.H;
childStep.Parent = step;
_AddToOpen(childStep);
}
}
}
//---------------------------------------------------------------------
public bool Search(EbAstarStep src, EbAstarStep dest)
{
src.G = 0;
src.H = EbAstarStep.Distance(src, dest);
src.Key = src.G + src.H;
mStepStart = src;
mStepBest = src;
mStepStart.Clear();
mStepDest = dest;
mStepCnt = 0;
_AddToOpen(src);
while (mOpenHeap.Size > 0)
{
mStepCurrent = mOpenHeap.Pop();
if (DestChecker.isDest(mStepCurrent))
{
mStepBest = mStepCurrent;
return(true);
}
if (mStepCnt > mStepCntMax)
{
return(false);
}
if (mStepCurrent.H < mStepBest.H)
{
mStepBest = mStepCurrent;
}
++mStepCnt;
_NewStep(mStepCurrent);
mStepCurrent.AttachNode.Detach();
_AddToClose(mStepCurrent);
}
return(false);
}
//-------------------------------------------------------------------------
public override bool isDest(EbAstarStep step)
{
return(EbAstarStep.Distance(step, Dest) < Diff);
}