C# NodeRecord类代码示例

        public NodeRecordArray(List<NavigationGraphNode> nodes, BoundingBox mapSize)
        {
            //this method creates and initializes the NodeRecordArray for all nodes in the Navigation Graph
            this.NodeRecords = new NodeRecord[nodes.Count];

            for (int i = 0; i < nodes.Count; i++)
            {
                var node = nodes[i];
                #pragma warning disable 0618  //NodeIndex is deprecated
                node.NodeIndex = i; //we're setting the node Index because RAIN does not do this automatically
                #pragma warning restore 0618

                NodeRecord nodeRecord = new NodeRecord { node = node,
                                                         status = NodeStatus.Unvisited
                                                       };
                nodeRecord.edgeBounds = new BoundingBox[node.OutEdgeCount];
                for (int j = 0; j < nodeRecord.edgeBounds.Length; j++)
                {
                    BoundingBox boundingBox = new BoundingBox();
                    boundingBox.maxX = mapSize.minX;
                    boundingBox.maxZ = mapSize.minZ;
                    boundingBox.minX = mapSize.maxX;
                    boundingBox.minZ = mapSize.maxZ;

                    nodeRecord.edgeBounds[j] = boundingBox;
                }

                this.NodeRecords[i] = nodeRecord;
            }

            this.SpecialCaseNodes = new List<NodeRecord>();

            this.Open = new NodePriorityHeap();
        }

        public void flood(NodeRecord startingNode) {
            NodeRecords.clearRecord();

            startingNode.parent = null;
            startingNode.edgeFromStart = -1;
            startingNode.fValue = 0;
            startingNode.status = NodeStatus.Open;
                
            initializeFlood(startingNode);

            startingNode.status = NodeStatus.Closed;

            while (NodeRecords.CountOpen() > 0) {
                var currentNode = NodeRecords.GetBestAndRemove();

                for (int i = 0; i < currentNode.node.OutEdgeCount; i++)
                {
                    
                    NodeRecord childNode = this.NodeRecords.GetNodeRecord(currentNode.node.EdgeOut(i).ToNode);
                    this.pushNode(childNode, currentNode, currentNode.edgeFromStart, 
                        currentNode.fValue + (currentNode.node.Position - childNode.node.Position).magnitude);
                }
                
                currentNode.status = NodeStatus.Closed;
            }
           
        }

        public NodeRecord SearchInClosed(NodeRecord nodeRecord)
        {
            var storedNode = this.GetNodeRecord(nodeRecord.node);

            if (storedNode != null && storedNode.status == NodeStatus.Closed) return storedNode;
            else return null;
        }

 public NodeRecord SearchInClosed(NavigationGraphNode key, NodeRecord nodeRecord)
 {
     if (this.NodeRecords.Keys.Contains(key))
         return (NodeRecord)this.NodeRecords[key];
     else
         return null;
 }

 public NodeRecord Search(NodeRecord nodeRecord)
 {
     //here I cannot use the == comparer because the nodeRecord will likely be a different computational object
     //and therefore pointer comparison will not work, we need to use Equals
     //LINQ with a lambda expression
     return this.NodeRecords.FirstOrDefault(n => n.Equals(nodeRecord));
 }

 public void RemoveFromOpen(NodeRecord nodeRecord)
 {
     int index = this.Open.BinarySearch(nodeRecord);
     if (index >= 0)
     {
         this.Open.RemoveAt(index);
     }
 }

 public void AddToOpen(NodeRecord nodeRecord)
 {
     int index = this.Open.BinarySearch(nodeRecord);
     if (index < 0)
     {
         this.Open.Insert(~index, nodeRecord);
     }
 }

 public NodeRecord SearchInClosed(NodeRecord nodeRecord)
 {
     if (this.Closed.ContainsKey(nodeRecord.node))
     {
         return this.Closed[nodeRecord.node];
     }
     else return null;
 }

 private void initializeFlood(NodeRecord startingNode)
 {
     for (int i = 0; i < startingNode.node.OutEdgeCount; i++) {
         NodeRecord nodeRecord = this.NodeRecords.GetNodeRecord(startingNode.node.EdgeOut(i).ToNode);
         
         this.pushNode(nodeRecord, startingNode, i, (startingNode.node.Position - nodeRecord.node.Position).magnitude);
     }
 }

 public void Replace(NodeRecord nodeToBeReplaced, NodeRecord nodeToReplace)
 {
     //since the list is not ordered we do not need to remove the node and add the new one, just copy the different values
     //remember that if NodeRecord is a struct, for this to work we need to receive a reference
     nodeToBeReplaced.parent = nodeToReplace.parent;
     nodeToBeReplaced.fValue = nodeToReplace.fValue;
     nodeToBeReplaced.gValue = nodeToReplace.gValue;
     nodeToBeReplaced.hValue = nodeToReplace.hValue;
 }

        protected new void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge)
        {
            float f;
            float g;
            float h;

            var childNode = connectionEdge.ToNode;
            var childNodeRecord = this.NodeRecordArray.GetNodeRecord(childNode);

            if (childNodeRecord == null)
            {
                //this piece of code is used just because of the special start nodes and goal nodes added to the RAIN Navigation graph when a new search is performed.
                //Since these special goals were not in the original navigation graph, they will not be stored in the NodeRecordArray and we will have to add them
                //to a special structure
                //it's ok if you don't understand this, this is a hack and not part of the NodeArrayA* algorithm
                childNodeRecord = new NodeRecord
                {
                    node = childNode,
                    parent = bestNode,
                    status = NodeStatus.Unvisited
                };
                this.NodeRecordArray.AddSpecialCaseNode(childNodeRecord);
            }

            // implement the rest of your code here

            if (childNodeRecord.status == NodeStatus.Closed) return;

            float influenceCost = CalculateInfluenceCost(bestNode.node, childNode);
            if (influenceCost < 0.0f)
                return;

            g = bestNode.gValue + connectionEdge.Cost - influenceCost;
            h = this.Heuristic.H(childNode, this.GoalNode);
            f = F(g,h);

            if (childNodeRecord.status == NodeStatus.Open)
            {
                if (f <= childNodeRecord.fValue)
                {
                    childNodeRecord.gValue = g;
                    childNodeRecord.hValue = h;
                    childNodeRecord.fValue = f;
                    childNodeRecord.parent = bestNode;
                    this.NodeRecordArray.Replace(childNodeRecord,childNodeRecord);
                }
            }
            else
            {
                childNodeRecord.gValue = g;
                childNodeRecord.hValue = h;
                childNodeRecord.fValue = f;
                childNodeRecord.status = NodeStatus.Open;
                childNodeRecord.parent = bestNode;
                this.NodeRecordArray.AddToOpen(childNodeRecord);
            }
        }

 public NodeRecord SearchInOpen(NodeRecord nodeRecord)
 {
     int index = this.Open.BinarySearch(nodeRecord);
     if (index >= 0)
     {
         return this.Open[index];
     }
     return null;
 }

 public NodeRecord SearchInOpen(NavigationGraphNode key, NodeRecord nodeRecord)
 {
     int index = this.Open.BinarySearch(nodeRecord);
     if (index >= 0)
     {
         return this.Open[index];
     }
     return Open.FirstOrDefault(n => n.Equals(nodeRecord)); 
 }

 public NodeRecord SearchInClosed(NodeRecord nodeRecord)
 {
     //here I cannot use the == comparer because the nodeRecord will likely be a different computational object
     //and therefore pointer comparison will not work, we need to use Equals
     //LINQ with a lambda expression
     if (this.NodeRecords.ContainsKey(nodeRecord.node)){
         return this.NodeRecords[nodeRecord.node];
     }
     return null;
 }

 public NodeRecord SearchInOpen(NodeRecord nodeRecord)
 {
     //int index = this.Open.BinarySearch(nodeRecord);
     //if (index < 0)
     //{
     //    return null;
     //}
     //else return Open[index];
     return this.Open.FirstOrDefault(n => n.Equals(nodeRecord));
 }