How to get PathNode G score?

Installation Upgrades
1

Hi Aron,

In the v4.0, we had access to G score from any PathNode ( mypathNode.G ). In v5.0 how to get it ?

Best

2

This data is no longer stored on the nodes. It is only stored temporarily while the node is in the binary heap. If you use a custom path type, you can override the OnVisitNode method to get this info.

3

It seems that some node are not visited when using ConstantPath on reactGraph. Here are the method used to store & use the G score per node.

List gScores = new List();

public uint GetPathNodeGScore(int i)
{
if (i < allNodes.Count)
{
uint nodeIndex = allNodes[i].NodeIndex;
if (nodeIndex < gScores.Count)
return gScores[(int)nodeIndex];
}
return uint.MaxValue;
}

public uint GetPathNodeGScore(GraphNode node)
{
uint nodeIndex = node.NodeIndex;

 if(nodeIndex < gScores.Count)
         return gScores[(int)nodeIndex];

 return uint.MaxValue;

}

protected override void Reset()
{
base.Reset();

 gScores.Clear();

}

public override void OnVisitNode(uint pathNode, uint hScore, uint gScore)
{
base.OnVisitNode(pathNode, hScore, gScore);

 // Temp code : just increase array on demand if out of bound
 while (pathNode >= gScores.Count)
 {
     gScores.Add(uint.MaxValue);
 }
 gScores[(int)pathNode] = gScore;

}

See attached screen when I displayed the G score all in red. As you can see, there are some green nodes surrounded by all red which seems to tell that those node was not visited. Is it possible ? Note that the big green square is something not walkable and exluded from search which is normal there. The issue is more related to the 2 green triangles close to it (I have many of these issues on the mesh).

Many thks for your help
Best

graph
graph1459×661 91.9 KB

4

In v5 each triangle node actually has 3 path nodes. One for each side of the triangle. This is controlled by the GraphNode.PathNodeVariants property. So I would recommend that you instead keep a Dictionary<GraphNode, int>, and then populate it with the minimum g score that you see for that graph node.
You can convert a path node index to a graph node using pathHandler.GetNode(nodeIndex).

5

Many thks for your quick response. In the code below, it seems that I am not passing by the else case where a lower score is found :

Dictionary<GraphNode, int> gScores = new Dictionary<GraphNode, int>();

public override void OnVisitNode(uint pathNode, uint hScore, uint gScore)
{
base.OnVisitNode(pathNode, hScore, gScore);

GraphNode node = pathHandler.GetNode(pathNode);

int storeGScore = int.MaxValue;
if (gScores.TryGetValue(node, out storeGScore) == false)
    gScores.Add(node, (int)gScore);
else if (gScore < storeGScore)
    gScores[node] = (int)gScore;

}

Do I missed something ? Anyway, the result looks better. I will investigate more.

Best

6

Looks reasonable to me.