public CPathAStar()
{
// Make all the nodes that we will use, and put them on the unused list
for (uint i = 0; i < MAX_NODES; i++)
{
CAStarNode pNewNode = new CAStarNode();
pNewNode.SetpNext(m_UnusedNodes.GetpNext());
m_UnusedNodes.SetpNext(pNewNode);
}
}
void AddToOpenList(CAStarNode pNewNode)
{
CAStarNode pParentNode = m_OpenNodes;
CAStarNode pNodeToCheck = m_OpenNodes.GetpNext();
while (pNodeToCheck != null)
{
if (pNewNode.GetTotalCostF() < pNodeToCheck.GetTotalCostF())
{
pParentNode.SetpNext(pNewNode);
pNewNode.SetpNext(pNodeToCheck);
return;
}
pParentNode = pNodeToCheck;
pNodeToCheck = pNodeToCheck.GetpNext();
}
// it is the worst one in the list put it at the end
//assert(pParentNode.GetpNext() == null);
pParentNode.SetpNext(pNewNode);
//assert(pNewNode.GetpNext() == null);
}
void RemoveFromOpenList(CAStarNode pNodeToRemove)
{
CAStarNode pParentNode = m_OpenNodes;
CAStarNode pNodeToCheck = m_OpenNodes.GetpNext();
while (pNodeToCheck != null)
{
if (pNodeToRemove == pNodeToCheck)
{
pParentNode.SetpNext(pNodeToCheck.GetpNext());
pNodeToCheck.SetpNext(null);
return;
}
pParentNode = pNodeToCheck;
pNodeToCheck = pNodeToCheck.GetpNext();
}
//assert(0); // why are trying to remove an item that is not in the list
}
void ReturnAllNodesToUnusedList(CAStarNode pParentOfUnusedNode)
{
//AssertNoLostNodes();
CAStarNode pFirstNodeToReturn = pParentOfUnusedNode.GetpNext();
if (pFirstNodeToReturn != null)
{
CAStarNode pLastNodeToReturn = pFirstNodeToReturn;
// if the unused list has stuff in it already
if (m_UnusedNodes.GetpNext())
{
// find the last node we want to return
while (pLastNodeToReturn.GetpNext())
{
pLastNodeToReturn = pLastNodeToReturn.GetpNext();
}
// set the last node to return next to the first node of the unused list
pLastNodeToReturn.SetpNext(m_UnusedNodes.GetpNext());
// set the first node of the unused list to the first node to return
m_UnusedNodes.SetpNext(pFirstNodeToReturn);
// make sure the list we took them from doesn't still have them
pParentOfUnusedNode.SetpNext(null);
//AssertNoLostNodes;
}
else
{
// just put it on the unused list
m_UnusedNodes.SetpNext(pFirstNodeToReturn);
pParentOfUnusedNode.SetpNext(null);
//AssertNoLostNodes;
}
}
//AssertNoLostNodes;
}
void AddNodeToClosedList(CAStarNode pNodeToClose)
{
RemoveFromOpenList(pNodeToClose);
//assert(pNodeToClose.GetpNext() == null); // it should be in no list when you add it to the clossed
pNodeToClose.SetpNext(m_ClosedNodes.GetpNext());
m_ClosedNodes.SetpNext(pNodeToClose);
//AssertNoLostNodes;
}
void AddToOpenList(CAStarNode pNewNode)
{
CAStarNode pParentNode = m_OpenNodes;
CAStarNode pNodeToCheck = m_OpenNodes.GetpNext();
while (pNodeToCheck != null)
{
if (pNewNode.GetTotalCostF() < pNodeToCheck.GetTotalCostF())
{
pParentNode.SetpNext(pNewNode);
pNewNode.SetpNext(pNodeToCheck);
return;
}
pParentNode = pNodeToCheck;
pNodeToCheck = pNodeToCheck.GetpNext();
}
// it is the worst one in the list put it at the end
//assert(pParentNode.GetpNext() == null);
pParentNode.SetpNext(pNewNode);
//assert(pNewNode.GetpNext() == null);
}
public CPathAStar()
{
// Make all the nodes that we will use, and put them on the unused list
for (uint i = 0; i < MAX_NODES; i++)
{
CAStarNode pNewNode = new CAStarNode();
pNewNode.SetpNext(m_UnusedNodes.GetpNext());
m_UnusedNodes.SetpNext(pNewNode);
}
}