private void handleNeighbour(int x, int y, GeoNode from, boolean d) {
int nX = x - buff.offsetX, nY = y - buff.offsetY;
if (nX >= buff.mapSize || nX < 0 || nY >= buff.mapSize || nY < 0) return;
GeoNode n = buff.nodes[nX][nY];
float newCost;
if (!n.isSet()) {
n = n.set(x, y, from.z);
GeoEngine.NgetHeightAndNSWE(x, y, from.z, hNSWE, geoIndex);
n.z = hNSWE[0];
n.nswe = hNSWE[1];
}
int height = Math.abs(n.z - from.z);
if (height > Config.PATHFIND_MAX_Z_DIFF || n.nswe == NSWE_NONE) return;
newCost = from.costFromStart + traverseCost(from, n, d);
if (n.state == GeoNode.OPENED || n.state == GeoNode.CLOSED) {
if (n.costFromStart <= newCost) return;
}
if (n.state == GeoNode.NONE) n.costToEnd = pathCostEstimate(n);
n.parent = from;
n.costFromStart = newCost;
n.totalCost = n.costFromStart + n.costToEnd;
if (n.state == GeoNode.OPENED) return;
n.state = GeoNode.OPENED;
buff.open.add(n);
}
private void getHeightAndNSWE(int x, int y, short z) {
int nX = x - buff.offsetX, nY = y - buff.offsetY;
if (nX >= buff.mapSize || nX < 0 || nY >= buff.mapSize || nY < 0) {
hNSWE[1] = NSWE_NONE; // Затычка
return;
}
GeoNode n = buff.nodes[nX][nY];
if (!n.isSet()) {
n = n.set(x, y, z);
GeoEngine.NgetHeightAndNSWE(x, y, z, hNSWE, geoIndex);
n.z = hNSWE[0];
n.nswe = hNSWE[1];
} else {
hNSWE[0] = n.z;
hNSWE[1] = n.nswe;
}
}