C# Pathfinding.PathHandler类代码示例

 public PathThreadInfo(int index, AstarPath astar, PathHandler runData)
 {
     this.threadIndex = index;
     this.astar = astar;
     this.runData = runData;
     this.lockObject = new object();
 }

		public override void UpdateRecursiveG (Path path, PathNode pathNode, PathHandler handler) {
			UpdateG (path,pathNode);
			
			handler.PushNode (pathNode);
			
			for (int i=0;i<connections.Length;i++) {
				GraphNode other = connections[i];
				PathNode otherPN = handler.GetPathNode (other);
				if (otherPN.parent == pathNode && otherPN.pathID == handler.PathID) {
					other.UpdateRecursiveG (path, otherPN,handler);
				}
			}
		}

 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);
                 }
             }
         }
     }
 }

		/** Executes a straight jump search.
		 * \see http://en.wikipedia.org/wiki/Jump_point_search
		 */
		static GridNode JPSJumpStraight (GridNode node, Path path, PathHandler handler, int parentDir, int depth = 0) {
			GridGraph gg = GetGridGraph(node.GraphIndex);

			int[] neighbourOffsets = gg.neighbourOffsets;
			GridNode[] nodes = gg.nodes;

			GridNode origin = node;
			// Indexing into the cache arrays from multiple threads like this should cause
			// a lot of false sharing and cache trashing, but after profiling it seems
			// that this is not a major concern
			int threadID = handler.threadID;
			int threadOffset = 8*handler.threadID;

			int cyclicParentDir = JPSCyclic[parentDir];

			GridNode result = null;

			// Rotate 180 degrees
			const int forwardDir = 4;
			int forwardOffset = neighbourOffsets[JPSInverseCyclic[(forwardDir + cyclicParentDir) % 8]];

			// Move forwards in the same direction
			// until a node is encountered which we either
			// * know the result for (memoization)
			// * is a special node (flag2 set)
			// * has custom connections
			// * the node has a forced neighbour
			// Then break out of the loop
			// and start another loop which goes through the same nodes and sets the
			// memoization caches to avoid expensive calls in the future
			while (true) {
				// This is needed to make sure different threads don't overwrite each others results
				// It doesn't matter if we throw away some caching done by other threads as this will only
				// happen during the first few path requests
				if (node.JPSLastCacheID == null || node.JPSLastCacheID.Length < handler.totalThreadCount) {
					lock (node) {
						// Check again in case another thread has already created the array
						if (node.JPSLastCacheID == null || node.JPSLastCacheID.Length < handler.totalThreadCount) {
							node.JPSCache = new GridNode[8*handler.totalThreadCount];
							node.JPSDead = new byte[handler.totalThreadCount];
							node.JPSLastCacheID = new ushort[handler.totalThreadCount];
						}
					}
				}
				if (node.JPSLastCacheID[threadID] != path.pathID) {
					for (int i = 0; i < 8; i++) node.JPSCache[i + threadOffset] = null;
					node.JPSLastCacheID[threadID] = path.pathID;
					node.JPSDead[threadID] = 0;
				}

				// Cache earlier results, major optimization
				// It is important to read from it once and then return the same result,
				// if we read from it twice, we might get different results due to other threads clearing the array sometimes
				GridNode cachedResult = node.JPSCache[parentDir + threadOffset];
				if (cachedResult != null) {
					result = cachedResult;
					break;
				}

				if (((node.JPSDead[threadID] >> parentDir)&1) != 0) return null;

				// Special node (e.g end node), take care of
				if (handler.GetPathNode(node).flag2) {
					//Debug.Log ("Found end Node!");
					//Debug.DrawRay ((Vector3)position, Vector3.up*2, Color.green);
					result = node;
					break;
				}

				#if !ASTAR_GRID_NO_CUSTOM_CONNECTIONS
				// Special node which has custom connections, take care of
				if (node.connections != null && node.connections.Length > 0) {
					result = node;
					break;
				}
				#endif


				// These are the nodes this node is connected to, one bit for each of the 8 directions
				int noncyclic = node.gridFlags;//We don't actually need to & with this because we don't use the other bits. & 0xFF;
				int cyclic = 0;
				for (int i = 0; i < 8; i++) cyclic |= ((noncyclic >> i)&0x1) << JPSCyclic[i];


				int forced = 0;
				// Loop around to be able to assume -X is where we came from
				cyclic = ((cyclic >> cyclicParentDir) | ((cyclic << 8) >> cyclicParentDir)) & 0xFF;

				//for ( int i = 0; i < 8; i++ ) if ( ((cyclic >> i)&1) == 0 ) forced |= JPSForced[i];
				if ((cyclic & (1 << 2)) == 0) forced |= (1<<3);
				if ((cyclic & (1 << 6)) == 0) forced |= (1<<5);

				int natural = JPSNaturalStraightNeighbours;

				// Check if there are any forced neighbours which we can reach that are not natural neighbours
				//if ( ((forced & cyclic) & (~(natural & cyclic))) != 0 ) {
				if ((forced & (~natural) & cyclic) != 0) {
//.........这里部分代码省略.........

		public PathThreadInfo (int index, AstarPath astar, PathHandler runData) {
			this.threadIndex = index;
			this.astar = astar;
			this.runData = runData;
		}

		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 UpdateRecursiveG(Path path, PathNode pathNode, PathHandler handler)
 {
     GridGraph gridGraph = GridNode.GetGridGraph(base.GraphIndex);
     int[] neighbourOffsets = gridGraph.neighbourOffsets;
     GridNode[] nodes = gridGraph.nodes;
     base.UpdateG(path, pathNode);
     handler.PushNode(pathNode);
     ushort pathID = handler.PathID;
     for (int i = 0; i < 8; i++)
     {
         if (this.GetConnectionInternal(i))
         {
             GridNode gridNode = nodes[this.nodeInGridIndex + neighbourOffsets[i]];
             PathNode pathNode2 = handler.GetPathNode(gridNode);
             if (pathNode2.parent == pathNode && pathNode2.pathID == pathID)
             {
                 gridNode.UpdateRecursiveG(path, pathNode2, handler);
             }
         }
     }
     if (this.connections != null)
     {
         for (int j = 0; j < this.connections.Length; j++)
         {
             GraphNode graphNode = this.connections[j];
             PathNode pathNode3 = handler.GetPathNode(graphNode);
             if (pathNode3.parent == pathNode && pathNode3.pathID == pathID)
             {
                 graphNode.UpdateRecursiveG(path, pathNode3, 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 virtual void UpdateRecursiveG(Path path, PathNode pathNode, PathHandler handler)
        {
            //Simple but slow default implementation
            UpdateG (path,pathNode);

            handler.PushNode (pathNode);

            GetConnections (delegate (GraphNode other) {
                PathNode otherPN = handler.GetPathNode (other);
                if (otherPN.parent == pathNode && otherPN.pathID == handler.PathID) other.UpdateRecursiveG (path, otherPN,handler);
            });
        }

		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.........

 public override void UpdateRecursiveG(Path path, PathNode pathNode, PathHandler handler)
 {
     base.UpdateG(path, pathNode);
     handler.PushNode(pathNode);
     for (int i = 0; i < this.connections.Length; i++)
     {
         GraphNode graphNode = this.connections[i];
         PathNode pathNode2 = handler.GetPathNode(graphNode);
         if (pathNode2.parent == pathNode && pathNode2.pathID == handler.PathID)
         {
             graphNode.UpdateRecursiveG(path, pathNode2, 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 UpdateRecursiveG (Path path, PathNode pathNode, PathHandler handler) {
			GridGraph gg = GetGridGraph (GraphIndex);
			int[] neighbourOffsets = gg.neighbourOffsets;
			GridNode[] nodes = gg.nodes;
			
			UpdateG (path,pathNode);
			handler.PushNode (pathNode);
			
			ushort pid = handler.PathID;
			
			for (int i=0;i<8;i++) {				
				if (GetConnectionInternal(i)) {
					GridNode other = nodes[nodeInGridIndex + neighbourOffsets[i]];
					PathNode otherPN = handler.GetPathNode (other);
					if (otherPN.parent == pathNode && otherPN.pathID == pid) other.UpdateRecursiveG (path, otherPN,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);
						}
					}
				}
			}
		}