C# Path.GetTraversalCost方法代码示例

 public override void Open(Path path, PathNode pathNode, PathHandler handler)
 {
     if (this.connections == null)
     {
         return;
     }
     for (int i = 0; i < this.connections.Length; i++)
     {
         GraphNode graphNode = this.connections[i];
         if (path.CanTraverse(graphNode))
         {
             PathNode pathNode2 = handler.GetPathNode(graphNode);
             if (pathNode2.pathID != handler.PathID)
             {
                 pathNode2.node = graphNode;
                 pathNode2.parent = pathNode;
                 pathNode2.pathID = handler.PathID;
                 pathNode2.cost = this.connectionCosts[i];
                 pathNode2.H = path.CalculateHScore(graphNode);
                 graphNode.UpdateG(path, pathNode2);
                 handler.PushNode(pathNode2);
             }
             else
             {
                 uint num = this.connectionCosts[i];
                 if (pathNode.G + num + path.GetTraversalCost(graphNode) < pathNode2.G)
                 {
                     pathNode2.cost = num;
                     pathNode2.parent = pathNode;
                     graphNode.UpdateRecursiveG(path, pathNode2, handler);
                 }
                 else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G && graphNode.ContainsConnection(this))
                 {
                     pathNode.parent = pathNode2;
                     pathNode.cost = num;
                     this.UpdateRecursiveG(path, pathNode, handler);
                 }
             }
         }
     }
 }

		public override void Open (Path path, PathNode pathNode, PathHandler handler) {
			
			if (connections == null) return;
			
			for (int i=0;i<connections.Length;i++) {
				GraphNode other = connections[i];
				
				if (path.CanTraverse (other)) {
					
					PathNode pathOther = handler.GetPathNode (other);
					
					if (pathOther.pathID != handler.PathID) {
						
						pathOther.parent = pathNode;
						pathOther.pathID = handler.PathID;
						
						pathOther.cost = connectionCosts[i];
						
						pathOther.H = path.CalculateHScore (other);
						other.UpdateG (path, pathOther);
						
						handler.PushNode (pathOther);
					} else {
						//If not we can test if the path from this node to the other one is a better one then the one already used
						uint tmpCost = connectionCosts[i];
						
						if (pathNode.G + tmpCost + path.GetTraversalCost(other) < pathOther.G) {
							
							pathOther.cost = tmpCost;
							pathOther.parent = pathNode;
							
							other.UpdateRecursiveG (path, pathOther,handler);
							
							//handler.PushNode (pathOther);
						}
						else if (pathOther.G+tmpCost+path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection (this)) {
							//Or if the path from the other node to this one is better
							
							pathNode.parent = pathOther;
							pathNode.cost = tmpCost;
							
							UpdateRecursiveG (path, pathNode,handler);
							
							//handler.PushNode (pathNode);
						}
					}
				}
			}
		}

 public override void Open(Path path, PathNode pathNode, PathHandler handler)
 {
     GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
     ushort pathID = handler.PathID;
     int[] neighbourOffsets = gridGraph.neighbourOffsets;
     uint[] neighbourCosts = gridGraph.neighbourCosts;
     GridNode[] nodes = gridGraph.nodes;
     for (int i = 0; i < 8; i++)
     {
         if (this.GetConnectionInternal(i))
         {
             GridNode gridNode = nodes[this.nodeInGridIndex + neighbourOffsets[i]];
             if (path.CanTraverse(gridNode))
             {
                 PathNode pathNode2 = handler.GetPathNode(gridNode);
                 uint num = neighbourCosts[i];
                 if (pathNode2.pathID != pathID)
                 {
                     pathNode2.parent = pathNode;
                     pathNode2.pathID = pathID;
                     pathNode2.cost = num;
                     pathNode2.H = path.CalculateHScore(gridNode);
                     gridNode.UpdateG(path, pathNode2);
                     handler.PushNode(pathNode2);
                 }
                 else if (pathNode.G + num + path.GetTraversalCost(gridNode) < pathNode2.G)
                 {
                     pathNode2.cost = num;
                     pathNode2.parent = pathNode;
                     gridNode.UpdateRecursiveG(path, pathNode2, handler);
                 }
                 else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G)
                 {
                     pathNode.parent = pathNode2;
                     pathNode.cost = num;
                     this.UpdateRecursiveG(path, pathNode, handler);
                 }
             }
         }
     }
     if (this.connections != null)
     {
         for (int j = 0; j < this.connections.Length; j++)
         {
             GraphNode graphNode = this.connections[j];
             if (path.CanTraverse(graphNode))
             {
                 PathNode pathNode3 = handler.GetPathNode(graphNode);
                 uint num2 = this.connectionCosts[j];
                 if (pathNode3.pathID != pathID)
                 {
                     pathNode3.parent = pathNode;
                     pathNode3.pathID = pathID;
                     pathNode3.cost = num2;
                     pathNode3.H = path.CalculateHScore(graphNode);
                     graphNode.UpdateG(path, pathNode3);
                     handler.PushNode(pathNode3);
                 }
                 else if (pathNode.G + num2 + path.GetTraversalCost(graphNode) < pathNode3.G)
                 {
                     pathNode3.cost = num2;
                     pathNode3.parent = pathNode;
                     graphNode.UpdateRecursiveG(path, pathNode3, handler);
                 }
                 else if (pathNode3.G + num2 + path.GetTraversalCost(this) < pathNode.G && graphNode.ContainsConnection(this))
                 {
                     pathNode.parent = pathNode3;
                     pathNode.cost = num2;
                     this.UpdateRecursiveG(path, pathNode, handler);
                 }
             }
         }
     }
 }

		public override void Open (Path path, PathNode pathNode, PathHandler handler) {

			//BaseOpen (nodeRunData, nodeR, targetPosition, path);

			LayerGridGraph graph = GetGridGraph(GraphIndex);
			int[] neighbourOffsets = graph.neighbourOffsets;
			uint[] neighbourCosts = graph.neighbourCosts;
			LevelGridNode[] nodes = graph.nodes;

			int index = NodeInGridIndex;//indices & 0xFFFFFF;

			for (int i=0;i<4;i++) {
				int conn = GetConnectionValue(i);//(gridConnections >> i*4) & 0xF;
				if (conn != LevelGridNode.NoConnection) {

					GraphNode other = nodes[index+neighbourOffsets[i] + graph.lastScannedWidth*graph.lastScannedDepth*conn];

					if (!path.CanTraverse (other)) {
						continue;
					}

					PathNode otherPN = handler.GetPathNode (other);

					if (otherPN.pathID != handler.PathID) {
						otherPN.parent = pathNode;
						otherPN.pathID = handler.PathID;

						otherPN.cost = neighbourCosts[i];

						otherPN.H = path.CalculateHScore (other);
						other.UpdateG (path, otherPN);

						handler.PushNode (otherPN);

					} 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
						uint tmpCost = neighbourCosts[i];

#if ASTAR_NO_TRAVERSAL_COST
						if (pathNode.G + tmpCost < otherPN.G)
#else
						if (pathNode.G + tmpCost + path.GetTraversalCost(other) < otherPN.G)
#endif
						{
							otherPN.cost = tmpCost;

							otherPN.parent = pathNode;

							other.UpdateRecursiveG (path,otherPN, handler);

						}
						//Or if the path from this node ("other") to the current ("current") is better
#if ASTAR_NO_TRAVERSAL_COST
						else if (otherPN.G+tmpCost < pathNode.G)
#else
						else if (otherPN.G+tmpCost+path.GetTraversalCost(this) < pathNode.G)
#endif
						{
							pathNode.parent = otherPN;
							pathNode.cost = tmpCost;

							UpdateRecursiveG(path, pathNode, handler);
						}
					}
				}
			}
		}

 public void UpdateG(Path path, PathNode pathNode)
 {
     #if ASTAR_NO_TRAVERSAL_COST
     pathNode.G = pathNode.parent.G + pathNode.cost;
     #else
     pathNode.G = pathNode.parent.G + pathNode.cost + path.GetTraversalCost(this);
     #endif
 }

		public override void Open (Path path, PathNode pathNode, PathHandler handler) {
			GridGraph gg = GetGridGraph(GraphIndex);

			ushort pid = handler.PathID;

#if ASTAR_JPS
			if (gg.useJumpPointSearch && !path.FloodingPath) {
				JPSOpen(path, pathNode, handler);
			} else
#endif
			{
				int[] neighbourOffsets = gg.neighbourOffsets;
				uint[] neighbourCosts = gg.neighbourCosts;
				GridNode[] nodes = gg.nodes;

				for (int i = 0; i < 8; i++) {
					if (GetConnectionInternal(i)) {
						GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]];
						if (!path.CanTraverse(other)) continue;

						PathNode otherPN = handler.GetPathNode(other);

						uint tmpCost = neighbourCosts[i];

						if (otherPN.pathID != pid) {
							otherPN.parent = pathNode;
							otherPN.pathID = pid;

							otherPN.cost = tmpCost;

							otherPN.H = path.CalculateHScore(other);
							other.UpdateG(path, otherPN);

							//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
							handler.PushNode(otherPN);
							//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
						} else {
							// Sorry for the huge number of #ifs

							//If not we can test if the path from the current node to this one is a better one then the one already used

#if ASTAR_NO_TRAVERSAL_COST
							if (pathNode.G+tmpCost < otherPN.G)
#else
							if (pathNode.G+tmpCost+path.GetTraversalCost(other) < otherPN.G)
#endif
							{
								//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
								otherPN.cost = tmpCost;

								otherPN.parent = pathNode;

								other.UpdateRecursiveG(path, otherPN, handler);

								//Or if the path from this node ("other") to the current ("current") is better
							}
#if ASTAR_NO_TRAVERSAL_COST
							else if (otherPN.G+tmpCost < pathNode.G)
#else
							else if (otherPN.G+tmpCost+path.GetTraversalCost(this) < pathNode.G)
#endif
							{
								//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
								pathNode.parent = otherPN;
								pathNode.cost = tmpCost;

								UpdateRecursiveG(path, pathNode, handler);
							}
						}
					}
				}
			}

#if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS
			if (connections != null) for (int i = 0; i < connections.Length; i++) {
					GraphNode other = connections[i];
					if (!path.CanTraverse(other)) continue;

					PathNode otherPN = handler.GetPathNode(other);

					uint tmpCost = connectionCosts[i];

					if (otherPN.pathID != pid) {
						otherPN.parent = pathNode;
						otherPN.pathID = pid;

						otherPN.cost = tmpCost;

						otherPN.H = path.CalculateHScore(other);
						other.UpdateG(path, otherPN);

						//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
						handler.PushNode(otherPN);
						//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
					} else {
						// Sorry for the huge number of #ifs

						//If not we can test if the path from the current node to this one is a better one then the one already used

#if ASTAR_NO_TRAVERSAL_COST
//.........这里部分代码省略.........

//.........这里部分代码省略.........
				for (int i = 0; i < 8; i++) if (((cyclic >> i)&1) == 0) forced |= JPSForcedDiagonal[i];

				natural = JPSNaturalDiagonalNeighbours;
			} else {
				for (int i = 0; i < 8; i++) if (((cyclic >> i)&1) == 0) forced |= JPSForced[i];

				natural = JPSNaturalStraightNeighbours;
			}

			// Don't force nodes we cannot reach anyway
			forced &= cyclic;
			natural &= cyclic;

			int nb = forced | natural;


			/*if ( ((Vector3)position - new Vector3(0.5f,0,3.5f)).magnitude < 0.5f ) {
			 *  Debug.Log (noncyclic + " " + parentDir + " " + cyclicParentDir);
			 *  Debug.Log (System.Convert.ToString (cyclic, 2)+"\n"+System.Convert.ToString (noncyclic, 2)+"\n"+System.Convert.ToString (natural, 2)+"\n"+System.Convert.ToString (forced, 2));
			 * }*/

			for (int i = 0; i < 8; i++) {
				if (((nb >> i)&1) != 0) {
					int oi = JPSInverseCyclic[(i + cyclicParentDir) % 8];
					GridNode other = nodes[nodeInGridIndex + neighbourOffsets[oi]];

#if ASTARDEBUG
					if (((forced >> i)&1) != 0) {
						Debug.DrawLine((Vector3)position, Vector3.Lerp((Vector3)other.position, (Vector3)position, 0.6f), Color.red);
					}
					if (((natural >> i)&1) != 0) {
						Debug.DrawLine((Vector3)position + Vector3.up*0.2f, Vector3.Lerp((Vector3)other.position, (Vector3)position, 0.6f) + Vector3.up*0.2f, Color.green);
					}
#endif

					if (oi < 4) {
						other = JPSJumpStraight(other, path, handler, JPSInverseCyclic[(i + 4 + cyclicParentDir) % 8]);
					} else {
						other = other.JPSJumpDiagonal(path, handler, JPSInverseCyclic[(i + 4 + cyclicParentDir) % 8]);
					}

					if (other != null) {
						//Debug.DrawLine ( (Vector3)position + Vector3.up*0.0f, (Vector3)other.position + Vector3.up*0.3f, Color.cyan);
						//Debug.DrawRay ( (Vector3)other.position, Vector3.up, Color.cyan);
						//GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]];
						//if (!path.CanTraverse (other)) continue;

						PathNode otherPN = handler.GetPathNode(other);

						if (otherPN.pathID != pid) {
							otherPN.parent = pathNode;
							otherPN.pathID = pid;

							otherPN.cost = (uint)(other.position - position).costMagnitude;//neighbourCosts[i];

							otherPN.H = path.CalculateHScore(other);
							other.UpdateG(path, otherPN);

							//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
							handler.PushNode(otherPN);
							//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
						} 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
							uint tmpCost = (uint)(other.position - position).costMagnitude;//neighbourCosts[i];

							if (pathNode.G+tmpCost+path.GetTraversalCost(other) < otherPN.G) {
								//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
								otherPN.cost = tmpCost;

								otherPN.parent = pathNode;

								other.UpdateRecursiveG(path, otherPN, handler);

								//Or if the path from this node ("other") to the current ("current") is better
							} else if (otherPN.G+tmpCost+path.GetTraversalCost(this) < pathNode.G) {
								//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
								pathNode.parent = otherPN;
								pathNode.cost = tmpCost;

								UpdateRecursiveG(path, pathNode, handler);
							}
						}
					}
				}

#if ASTARDEBUG
				if (i == 0 && parentDir != -1 && this.nodeInGridIndex > 10) {
					int oi = JPSInverseCyclic[(i + cyclicParentDir) % 8];

					if (nodeInGridIndex + neighbourOffsets[oi] < 0 || nodeInGridIndex + neighbourOffsets[oi] >= nodes.Length) {
						//Debug.LogError ("ERR: " + (nodeInGridIndex + neighbourOffsets[oi]) + " " + cyclicParentDir + " " + parentDir + " Reverted " + oi);
						//Debug.DrawRay ((Vector3)position, Vector3.up, Color.red);
					} else {
						GridNode other = nodes[nodeInGridIndex + neighbourOffsets[oi]];
						Debug.DrawLine((Vector3)position - Vector3.up*0.2f, Vector3.Lerp((Vector3)other.position, (Vector3)position, 0.6f) - Vector3.up*0.2f, Color.blue);
					}
				}
#endif
			}
		}

		public override void Open (Path path, PathNode pathNode, PathHandler handler) {
			if (connections == null) return;

			// Flag2 indicates if this node needs special treatment
			// with regard to connection costs
			bool flag2 = pathNode.flag2;

			// Loop through all connections
			for (int i=connections.Length-1;i >= 0;i--) {
				GraphNode other = connections[i];

				// Make sure we can traverse the neighbour
				if (path.CanTraverse (other)) {

					PathNode pathOther = handler.GetPathNode (other);

					// Fast path out, worth it for triangle mesh nodes since they usually have degree 2 or 3
					if (pathOther == pathNode.parent) {
						continue;
					}

					uint cost = connectionCosts[i];

					if (flag2 || pathOther.flag2) {
						// Get special connection cost from the path
						// This is used by the start and end nodes
						cost = path.GetConnectionSpecialCost (this,other,cost);
					}

					// Test if we have seen the other node before
					if (pathOther.pathID != handler.PathID) {
						// We have not seen the other node before
						// So the path from the start through this node to the other node
						// must be the shortest one so far

						// Might not be assigned
						pathOther.node = other;

						pathOther.parent = pathNode;
						pathOther.pathID = handler.PathID;

						pathOther.cost = cost;

						pathOther.H = path.CalculateHScore (other);
						other.UpdateG (path, pathOther);

						handler.PushNode (pathOther);
					} else {

						// If not we can test if the path from this node to the other one is a better one than the one already used
						if (pathNode.G + cost + path.GetTraversalCost(other) < pathOther.G) {

							pathOther.cost = cost;
							pathOther.parent = pathNode;

							other.UpdateRecursiveG (path, pathOther,handler);
						}
						else if (pathOther.G+cost+path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection (this)) {
							// Or if the path from the other node to this one is better

							pathNode.parent = pathOther;
							pathNode.cost = cost;

							UpdateRecursiveG (path, pathNode,handler);
						}
					}
				}
			}
		}

		public override void Open (Path path, PathNode pathNode, PathHandler handler) {
			
			GridGraph gg = GetGridGraph (GraphIndex);
			int[] neighbourOffsets = gg.neighbourOffsets;
			uint[] neighbourCosts = gg.neighbourCosts;
			GridNode[] nodes = gg.nodes;
			ushort pid = handler.PathID;
			 
			for (int i=0;i<8;i++) {
				if (GetConnectionInternal(i)) {
					
					GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]];
					if (!path.CanTraverse (other)) continue;
					
					PathNode otherPN = handler.GetPathNode (other);
					
					if (otherPN.pathID != pid) {
						otherPN.parent = pathNode;
						otherPN.pathID = pid;
						
						otherPN.cost = neighbourCosts[i];
						
						otherPN.H = path.CalculateHScore (other);
						other.UpdateG (path, otherPN);
						
						//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
						handler.PushNode (otherPN);
						//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
					} 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
						uint tmpCost = neighbourCosts[i];
						
						if (pathNode.G+tmpCost+path.GetTraversalCost(other) < otherPN.G) {
							//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
							otherPN.cost = tmpCost;
							
							otherPN.parent = pathNode;
							
							other.UpdateRecursiveG (path,otherPN, handler);
							
						//Or if the path from this node ("other") to the current ("current") is better
						} else if (otherPN.G+tmpCost+path.GetTraversalCost (this) < pathNode.G) {
							//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
							pathNode.parent = otherPN;
							pathNode.cost = tmpCost;
							
							UpdateRecursiveG(path, pathNode, handler);
						}
					}
				}
			}
			
		}

		public override void Open (Path path, PathNode pathNode, PathHandler handler) {

			var gg = GetGridGraph (GraphIndex);

			var pid = handler.PathID;

			{
				var neighbourOffsets = gg.neighbourOffsets;
				var neighbourCosts = gg.neighbourCosts;
				var nodes = gg.nodes;
				 
				for (var i=0;i<8;i++) {
					if (GetConnectionInternal(i)) {
						
						var other = nodes[nodeInGridIndex + neighbourOffsets[i]];
						if (!path.CanTraverse (other)) continue;
						
						var otherPN = handler.GetPathNode (other);

						// Multiply the connection cost with 1 + the average of the traversal costs for the two nodes
						var tmpCost = (neighbourCosts[i] * (256 + path.GetTraversalCost(this) + path.GetTraversalCost(other)))/128;

						if (otherPN.pathID != pid) {
							otherPN.parent = pathNode;
							otherPN.pathID = pid;

							otherPN.cost = tmpCost;

							otherPN.H = path.CalculateHScore (other);
							other.UpdateG (path, otherPN);
							
							//Debug.Log ("G " + otherPN.G + " F " + otherPN.F);
							handler.PushNode (otherPN);
							//Debug.DrawRay ((Vector3)otherPN.node.Position, Vector3.up,Color.blue);
						} else {

							// Sorry for the huge number of #ifs

							//If not we can test if the path from the current node to this one is a better one then the one already used

							if (pathNode.G+tmpCost < otherPN.G)
							{
								//Debug.Log ("Path better from " + NodeIndex + " to " + otherPN.node.NodeIndex + " " + (pathNode.G+tmpCost+path.GetTraversalCost(other)) + " < " + otherPN.G);
								otherPN.cost = tmpCost;
								
								otherPN.parent = pathNode;
								
								other.UpdateRecursiveG (path,otherPN, handler);
								
							//Or if the path from this node ("other") to the current ("current") is better
							}
							else if (otherPN.G+tmpCost < pathNode.G)
							{

								//Debug.Log ("Path better from " + otherPN.node.NodeIndex + " to " + NodeIndex + " " + (otherPN.G+tmpCost+path.GetTraversalCost (this)) + " < " + pathNode.G);
								pathNode.parent = otherPN;
								pathNode.cost = tmpCost;
								
								UpdateRecursiveG(path, pathNode, handler);
							}
						}
					}
				}
			}

		}

		public override void Open (Path path, PathNode pathNode, PathHandler handler) {
			if (connections == null) return;
			
			bool flag2 = pathNode.flag2;
			
			for (int i=connections.Length-1;i >= 0;i--) {
				GraphNode other = connections[i];
				
				if (path.CanTraverse (other)) {
					
					PathNode pathOther = handler.GetPathNode (other);
					
					//Fast path out, worth it for triangle mesh nodes since they usually have degree 2 or 3
					if (pathOther == pathNode.parent) {
						continue;
					}
					
					uint cost = connectionCosts[i];
					
					if (flag2 || pathOther.flag2) {
						cost = path.GetConnectionSpecialCost (this,other,cost);
						
					}
					
					if (pathOther.pathID != handler.PathID) {
						//Might not be assigned
						pathOther.node = other;
						
						pathOther.parent = pathNode;
						pathOther.pathID = handler.PathID;
						
						pathOther.cost = cost;
						
						pathOther.H = path.CalculateHScore (other);
						other.UpdateG (path, pathOther);
						
						handler.PushNode (pathOther);
					} else {
						//If not we can test if the path from this node to the other one is a better one than the one already used
						if (pathNode.G + cost + path.GetTraversalCost(other) < pathOther.G) {
							
							pathOther.cost = cost;
							pathOther.parent = pathNode;
							
							other.UpdateRecursiveG (path, pathOther,handler);
							//handler.PushNode (pathOther);
							
						}
						else if (pathOther.G+cost+path.GetTraversalCost(this) < pathNode.G && other.ContainsConnection (this)) {
							//Or if the path from the other node to this one is better
							
							pathNode.parent = pathOther;
							pathNode.cost = cost;
							
							UpdateRecursiveG (path, pathNode,handler);
							
							//handler.PushNode (pathNode);
						}
					}
				}
			}
		}

 public override void Open(Path path, PathNode pathNode, PathHandler handler)
 {
     LayerGridGraph gridGraph = LevelGridNode.GetGridGraph(base.GraphIndex);
     int[] neighbourOffsets = gridGraph.neighbourOffsets;
     uint[] neighbourCosts = gridGraph.neighbourCosts;
     LevelGridNode[] nodes = gridGraph.nodes;
     int nodeInGridIndex = base.NodeInGridIndex;
     for (int i = 0; i < 4; i++)
     {
         int connectionValue = this.GetConnectionValue(i);
         if (connectionValue != 255)
         {
             GraphNode graphNode = nodes[nodeInGridIndex + neighbourOffsets[i] + gridGraph.lastScannedWidth * gridGraph.lastScannedDepth * connectionValue];
             if (path.CanTraverse(graphNode))
             {
                 PathNode pathNode2 = handler.GetPathNode(graphNode);
                 if (pathNode2.pathID != handler.PathID)
                 {
                     pathNode2.parent = pathNode;
                     pathNode2.pathID = handler.PathID;
                     pathNode2.cost = neighbourCosts[i];
                     pathNode2.H = path.CalculateHScore(graphNode);
                     graphNode.UpdateG(path, pathNode2);
                     handler.PushNode(pathNode2);
                 }
                 else
                 {
                     uint num = neighbourCosts[i];
                     if (pathNode.G + num + path.GetTraversalCost(graphNode) < pathNode2.G)
                     {
                         pathNode2.cost = num;
                         pathNode2.parent = pathNode;
                         graphNode.UpdateRecursiveG(path, pathNode2, handler);
                     }
                     else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G)
                     {
                         pathNode.parent = pathNode2;
                         pathNode.cost = num;
                         this.UpdateRecursiveG(path, pathNode, handler);
                     }
                 }
             }
         }
     }
 }

 public override void Open(Path path, PathNode pathNode, PathHandler handler)
 {
     if (this.connections == null)
     {
         return;
     }
     bool flag = pathNode.flag2;
     for (int i = this.connections.Length - 1; i >= 0; i--)
     {
         GraphNode graphNode = this.connections[i];
         if (path.CanTraverse(graphNode))
         {
             PathNode pathNode2 = handler.GetPathNode(graphNode);
             if (pathNode2 != pathNode.parent)
             {
                 uint num = this.connectionCosts[i];
                 if (flag || pathNode2.flag2)
                 {
                     num = path.GetConnectionSpecialCost(this, graphNode, num);
                 }
                 if (pathNode2.pathID != handler.PathID)
                 {
                     pathNode2.node = graphNode;
                     pathNode2.parent = pathNode;
                     pathNode2.pathID = handler.PathID;
                     pathNode2.cost = num;
                     pathNode2.H = path.CalculateHScore(graphNode);
                     graphNode.UpdateG(path, pathNode2);
                     handler.PushNode(pathNode2);
                 }
                 else if (pathNode.G + num + path.GetTraversalCost(graphNode) < pathNode2.G)
                 {
                     pathNode2.cost = num;
                     pathNode2.parent = pathNode;
                     graphNode.UpdateRecursiveG(path, pathNode2, handler);
                 }
                 else if (pathNode2.G + num + path.GetTraversalCost(this) < pathNode.G && graphNode.ContainsConnection(this))
                 {
                     pathNode.parent = pathNode2;
                     pathNode.cost = num;
                     this.UpdateRecursiveG(path, pathNode, handler);
                 }
             }
         }
     }
 }

		public void UpdateG (Path path, PathNode pathNode) {
			pathNode.G = pathNode.parent.G + pathNode.cost + path.GetTraversalCost(this);
		}

        /// <summary>
        /// Prints info about the nodes of the AstarPath course.
        /// <remarks>The course the fleet follows is actually derived from path.VectorPath rather than path.path's collection
        /// of nodes that are printed here. The Seeker's StartEndModifier determines whether the closest node to the start 
        /// position is included or simply replaced by the exact start position.</remarks>
        /// </summary>
        /// <param name="path">The course.</param>
        private void __ReportPathNodes(Path path) {
            if (path.path.Any()) {
                float startToFirstNodeDistance = Vector3.Distance(Position, (Vector3)path.path[0].position);
                D.Log(ShowDebugLog, "{0}'s Destination is {1} at {2}. Start is {3} with Topography {4}. Distance to first AStar Node: {5:0.#}.",
                    DebugName, ApTarget.DebugName, ApTarget.Position, Position, _fleet.Topography.GetValueName(), startToFirstNodeDistance);
                float cumNodePenalties = 0F;
                string distanceFromPrevNodeMsg = string.Empty;
                GraphNode prevNode = null;
                path.path.ForAll(node => {
                    Vector3 nodePosition = (Vector3)node.position;
                    if (prevNode != null) {
                        distanceFromPrevNodeMsg = ", distanceFromPrevNode {0:0.#}".Inject(Vector3.Distance(nodePosition, (Vector3)prevNode.position));
                    }
                    if (ShowDebugLog) {
                        Topography topographyFromTag = __GetTopographyFromAStarTag(node.Tag);
                        D.Log("{0}'s Node at {1} has Topography {2}, penalty {3}{4}.",
                            DebugName, nodePosition, topographyFromTag.GetValueName(), (int)path.GetTraversalCost(node), distanceFromPrevNodeMsg);
                    }
                    cumNodePenalties += path.GetTraversalCost(node);
                    prevNode = node;
                });
                //float lastNodeToDestDistance = Vector3.Distance((Vector3)prevNode.position, ApTarget.Position);
                //D.Log(ShowDebugLog, "{0}'s distance from last AStar Node to Destination: {1:0.#}.", DebugName, lastNodeToDestDistance);

                if (ShowDebugLog) {
                    // calculate length of path in units scaled by same factor as used in the rest of the system
                    float unitLength = path.GetTotalLength();
                    float lengthCost = unitLength * Int3.Precision;
                    float totalCost = lengthCost + cumNodePenalties;
                    D.Log("{0}'s Path Costs: LengthInUnits = {1:0.#}, LengthCost = {2:0.}, CumNodePenalties = {3:0.}, TotalCost = {4:0.}.",
                        DebugName, unitLength, lengthCost, cumNodePenalties, totalCost);
                }
            }
            else {
                D.Warn("{0}'s course from {1} to {2} at {3} has no AStar Nodes.", DebugName, Position, ApTarget.DebugName, ApTarget.Position);
            }
        }