PathNode Class Reference

Stores temporary node data for a single pathfinding request. More...

Detailed Description

Stores temporary node data for a single pathfinding request.

Every node (GraphNode) has one PathNode per thread used by default. Some path handlers use more than one PathNode per node, for example the CooperativePathHandler.

It stores e.g G score, H score and other temporary variables needed for path calculation, but which are not part of the graph structure.

See also

Pathfinding.PathHandler

https://en.wikipedia.org/wiki/A*_search_algorithm

Public Member Functions
void	UpdateG (Path path)

Public Attributes
ushort	heapIndex = BinaryHeap.NotInHeap
	Index of the node in the binary heap. More...
GraphNode	node
	Reference to the actual graph node. More...
PathNode	parent
	Parent node in the search tree. More...
ushort	pathID
	The path request (in this thread, if multithreading is used) which last used this node. More...

Properties
uint	cost [get, set]
uint	F [get]
	F score. More...
bool	flag1 [get, set]
	Use as temporary flag during pathfinding. More...
bool	flag2 [get, set]
	Use as temporary flag during pathfinding. More...
uint	G [get, set]
	G score, cost to get to this node. More...
uint	H [get, set]
	H score, estimated cost to get to to the target. More...

Private Attributes
const uint	CostMask = (1U << 28) - 1U
	Cost uses the first 28 bits. More...
const uint	Flag1Mask = (uint)(1 << Flag1Offset)
const int	Flag1Offset = 28
	Flag 1 is at bit 28. More...
const uint	Flag2Mask = (uint)(1 << Flag2Offset)
const int	Flag2Offset = 29
	Flag 2 is at bit 29. More...
uint	flags
	Bitpacked variable which stores several fields. More...
uint	g
	Backing field for the G score. More...
uint	h
	Backing field for the H score. More...

Member Function Documentation

UpdateG()

void UpdateG

(

Path

path

)

Member Data Documentation

CostMask

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

private

Cost uses the first 28 bits.

Flag1Mask

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

private

Flag1Offset

const int Flag1Offset = 28

private

Flag 1 is at bit 28.

Flag2Mask

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

private

Flag2Offset

const int Flag2Offset = 29

private

Flag 2 is at bit 29.

flags

uint flags

private

Bitpacked variable which stores several fields.

g

uint g

private

Backing field for the G score.

h

uint h

private

Backing field for the H score.

heapIndex

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.

node

GraphNode node

Reference to the actual graph node.

parent

PathNode parent

Parent node in the search tree.

pathID

ushort pathID

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

Property Documentation

cost

uint cost

getset

F

uint F

get

F score.

H score + G score

flag1

bool flag1

getset

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.

flag2

bool flag2

getset

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.

G

uint G

getset

G score, cost to get to this node.

H

uint H

getset

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

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The documentation for this class was generated from the following file:

• /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Core/PathHandler.cs