private Pathfinder(INavigatable <T, J> assistant, T start, J target, PathAccuracy accuracy)
{
this.start = start;
this.target = target;
this.accuracy = accuracy;
pathAccuracy = AccuracyFactor(accuracy);
nav = assistant;
}
private MarchingCubesPathfinder(PathTriangle start, PathTriangle target, PathAccuracy accuracy, float estimatedStepProgress = 0.5f)
{
this.start = start;
this.target = target;
pathAccuracy = AccuracyFactor(accuracy);
float estimatedLength = start.DistanceToTarget(target);
int estimatedQueueSize = (int)Mathf.Clamp(estimatedStepProgress * estimatedLength * (1 - (pathAccuracy / 2)), 10, 10000);
pathTails = new BinaryHeap <float, PathTriangle>(float.MinValue, float.MaxValue, estimatedQueueSize / 2);
backwardsTails = new BinaryHeap <float, PathTriangle>(float.MinValue, float.MaxValue, estimatedQueueSize / 2);
}
private float AccuracyFactor(PathAccuracy acc)
{
float result;
switch (acc)
{
case PathAccuracy.Perfect:
{
result = 1f;
break;
}
case PathAccuracy.VeryGood:
{
result = 0.95f;
break;
}
case PathAccuracy.Good:
{
result = 0.8f;
break;
}
case PathAccuracy.Decent:
{
result = 0.5f;
break;
}
case PathAccuracy.NotSoGoodAnymore:
{
result = 0.25f;
break;
}
case PathAccuracy.ITakeAnyThing:
{
result = 0.05f;
break;
}
default:
{
throw new System.ArgumentException("Unexpected Accuracy: " + acc);
}
}
return(result);
}
public static IList <T> FindPath(INavigatable <T, J> assistant, T start, J target, PathAccuracy accuracy)
{
return(new Pathfinder <T, J>(assistant, start, target, accuracy).GetPath());
}
public static IList <PathTriangle> FindPath(PathTriangle start, PathTriangle target, PathAccuracy accuracy)
{
return(new MarchingCubesPathfinder(start, target, accuracy).GetPath());
}