public PathFinder(byte[,] grid, PathFinderOptions pathFinderOptions = null)
{
if (grid == null)
{
throw new Exception("Grid cannot be null");
}
_grid = grid;
if (_mCalcGrid == null || _mCalcGrid.GetLength(0) != _grid.GetLength(0) || _mCalcGrid.GetLength(1) != _grid.GetLength(1))
{
_mCalcGrid = new PathFinderNodeFast[_gridX, _gridY];
}
_open = new PriorityQueueB <Point>(new ComparePfNodeMatrix(_mCalcGrid));
_options = pathFinderOptions ?? new PathFinderOptions();
_direction = _options.Diagonals
? new sbyte[, ] {
{ 0, -1 }, { 1, 0 }, { 0, 1 }, { -1, 0 }, { 1, -1 }, { 1, 1 }, { -1, 1 }, { -1, -1 }
}
: new sbyte[, ] {
{ 0, -1 }, { 1, 0 }, { 0, 1 }, { -1, 0 }
};
}
public PathFinder(byte[,] grid, PathFinderOptions pathFinderOptions = null)
{
if (grid == null)
{
throw new Exception("Grid cannot be null");
}
_grid = grid;
_gridX = (ushort)(_grid.GetUpperBound(0) + 1);
_gridY = (ushort)(_grid.GetUpperBound(1) + 1);
// ReSharper disable CompareOfFloatsByEqualityOperator
if (Math.Log(_gridX, 2) != (int)Math.Log(_gridX, 2) || Math.Log(_gridY, 2) != (int)Math.Log(_gridY, 2))
{
throw new Exception("Invalid Grid, size in X and Y must be power of 2");
}
// ReSharper restore CompareOfFloatsByEqualityOperator
_gridXMinus1 = (ushort)(_gridX - 1);
_gridYLog2 = (ushort)Math.Log(_gridY, 2);
if (_mCalcGrid == null || _mCalcGrid.Length != (_gridX * _gridY))
{
_mCalcGrid = new PathFinderNodeFast[_gridX * _gridY];
}
_open = new PriorityQueueB <int>(new ComparePfNodeMatrix(_mCalcGrid));
//set options
if (pathFinderOptions == null)
{
pathFinderOptions = new PathFinderOptions();
}
_formula = pathFinderOptions.Formula;
_heavyDiagonals = pathFinderOptions.HeavyDiagonals;
_heuristicEstimate = pathFinderOptions.HeuristicEstimate;
_punishChangeDirection = pathFinderOptions.PunishChangeDirection;
_tieBreaker = pathFinderOptions.TieBreaker;
_searchLimit = pathFinderOptions.SearchLimit;
_diagonals = pathFinderOptions.Diagonals;
_direction = pathFinderOptions.Diagonals
? new sbyte[, ] {
{ 0, -1 }, { 1, 0 }, { 0, 1 }, { -1, 0 }, { 1, -1 }, { 1, 1 }, { -1, 1 }, { -1, -1 }
}
: new sbyte[, ] {
{ 0, -1 }, { 1, 0 }, { 0, 1 }, { -1, 0 }
};
}