Method GetNodeNeighbors

Source/Utils/micropather.cpp:572–634

void MicroPather::GetNodeNeighbors( PathNode* node, MP_VECTOR< NodeCost >* pNodeCost )
{
	if ( node->numAdjacent == 0 ) {
		// it has no neighbors.
		pNodeCost->resize( 0 );
	}
	else if ( node->cacheIndex < 0 )
	{
		// Not in the cache. Either the first time or just didn't fit. We don't know
		// the number of neighbors and need to call back to the client.
		stateCostVec.resize( 0 );
		graph->AdjacentCost( &node->state, &stateCostVec );

		#ifdef DEBUG
		{
			// If this assert fires, you have passed a state
			// as its own neighbor state. This is impossible --
			// bad things will happen.
			for ( unsigned i=0; i<stateCostVec.size(); ++i )
				MPASSERT( stateCostVec[i].state != node->state );
		}
		#endif

		pNodeCost->resize( stateCostVec.size() );
		node->numAdjacent = stateCostVec.size();

		if ( node->numAdjacent > 0 ) {
			// Now convert to pathNodes.
			// Note that the microsoft std library is actually pretty slow.
			// Move things to temp vars to help.
			const unsigned stateCostVecSize = stateCostVec.size();
			const StateCost* stateCostVecPtr = &stateCostVec[0];
			NodeCost* pNodeCostPtr = &(*pNodeCost)[0];

			for( unsigned i=0; i<stateCostVecSize; ++i ) {
				cPosition state = stateCostVecPtr[i].state;
				pNodeCostPtr[i].cost = stateCostVecPtr[i].cost;
				pNodeCostPtr[i].node = pathNodePool.GetPathNode( frame, state, FLT_MAX, FLT_MAX, 0 );
			}

			// Can this be cached?
			int start = 0;
			if ( pNodeCost->size() > 0 && pathNodePool.PushCache( pNodeCostPtr, pNodeCost->size(), &start ) ) {
				node->cacheIndex = start;
			}
		}
	}
	else {
		// In the cache!
		pNodeCost->resize( node->numAdjacent );
		NodeCost* pNodeCostPtr = &(*pNodeCost)[0];
		pathNodePool.GetCache( node->cacheIndex, node->numAdjacent, pNodeCostPtr );

		// A node is uninitialized (even if memory is allocated) if it is from a previous frame.
		// Check for that, and Init() as necessary.
		for( int i=0; i<node->numAdjacent; ++i ) {
			PathNode* pNode = pNodeCostPtr[i].node;
			if ( pNode->frame != frame ) {