Class PathNode

void UpdateG (

Path

path

)

uint cost

uint F

F score.

H score + G score

bool flag1

Use as temporary flag during pathfinding.

Pathfinders (only) can use this during pathfinding to mark nodes. When done, this flag should be reverted to its default state (false) to avoid messing up other pathfinding requests.

This is used among other things for marking goal nodes to enable very fast checking of if a node is a goal node or not.

bool flag2

Use as temporary flag during pathfinding.

Pathfinders (only) can use this during pathfinding to mark nodes. When done, this flag should be reverted to its default state (false) to avoid messing up other pathfinding requests.

uint G

G score, cost to get to this node.

uint H

H score, estimated cost to get to to the target.

ushort heapIndex = BinaryHeap.NotInHeap

Index of the node in the binary heap.

The open list in the A* algorithm is backed by a binary heap. To support fast 'decrease key' operations, the index of the node is saved here.

GraphNode node

Reference to the actual graph node.

PathNode parent

Parent node in the search tree.

ushort pathID

The path request (in this thread, if multithreading is used) which last used this node.

const uint CostMask = (1U << 28) - 1U

Cost uses the first 28 bits.

const uint Flag1Mask = (uint)(1 << Flag1Offset)

const int Flag1Offset = 28

Flag 1 is at bit 28.

const uint Flag2Mask = (uint)(1 << Flag2Offset)

const int Flag2Offset = 29

Flag 2 is at bit 29.

uint flags

Bitpacked variable which stores several fields.

uint g

Backing field for the G score.

uint h

Backing field for the H score.