public virtual void Open (AstarPath.BinaryHeap open, AstarPath.Path p, Node start, Node end, float angleCost) {
for (int i=0;i<enabledConnections.Length;i++) {
Connection connection = enabledConnections[i];
Node node = connection.endNode;
if (node == start) {
continue;
}
//Debug.DrawLine (current.vectorPos,current.neighbours[i].vectorPos,Color.red); //Uncomment for debug
//If the nodes script variable isn't refering to this path class the node counts as "not used yet" and can then be used
if (node.script != p) {
//Test if the angle from the current node to this one has exceded the angle limit
//if (angle >= maxAngle) {
// return;
//}
node.parent = this;
node.script = p;
node.basicCost = connection.cost + Mathf.RoundToInt (connection.cost*connection.angle*angleCost);
//(current.costs == null || costs.Length == 0 ? costs[node.invParentDirection] : current.costs[node.invParentDirection]);
//Calculate the extra cost of moving in a slope
//node.extraCost = ;
//Add the node to the open array
//Debug.DrawLine (current.vectorPos,current.neighbours[i].vectorPos,Color.green); //Uncomment for @Debug
node.UpdateH (end);
node.UpdateG ();
open.Add (node);
} 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
int cost2 = connection.cost + Mathf.RoundToInt (connection.cost*connection.angle*angleCost);//(current.costs == null || current.costs.Length == 0 ? costs[current.neighboursKeys[i]] : current.costs[current.neighboursKeys[i]]);
//int extraCost2
if (g+cost2+node.penalty < node.g) {
node.basicCost = cost2;
//node.extraCost = extraCost2;
node.parent = this;
node.UpdateAllG ();
open.Add (node);//@Quality, uncomment for better quality (I think).
//Debug.DrawLine (current.vectorPos,current.neighbours[i].vectorPos,Color.cyan); //Uncomment for @Debug
}
else if (node.g+cost2+penalty < g) {//Or if the path from this node ("node") to the current ("current") is better
bool contains = false;
//Make sure we don't travel along the wrong direction of a one way link now, make sure the Current node can be accesed from the Node.
for (int y=0;y<node.connections.Length;y++) {
if (node.connections[y].endNode == this) {
contains = true;
break;
}
}
if (!contains) {
continue;
}
parent = node;
basicCost = cost2;
//extraCost = extraCost2;
node.UpdateAllG ();
//Debug.DrawLine (current.vectorPos,current.neighbours[i].vectorPos,Color.blue); //Uncomment for @Debug
open.Add (this);
}
}
}
}