/// <summary>
/// Calculates a path from the given start position to the given end position for this Pathfinder's list of
/// rectangles. This overload Includes additional
/// metrics about the nature of the pathfinding.
/// </summary>
/// <param name="startPosition"></param>
/// <param name="endPosition"></param>
/// <param name="metrics"></param>
/// <returns></returns>
public List <Position> CalculatePath(Position startPosition, Position endPosition, out PathfinderMetrics metrics)
{
var watch = Stopwatch.StartNew();
PathfinderMetrics results = new PathfinderMetrics(0, 0, 0);
// something to time
var pathResult = CalculatePath(startPosition, endPosition, results);
// done timing
watch.Stop();
results.RuntimeInMillis = watch.ElapsedMilliseconds;
metrics = results;
return(pathResult);
}
private List <Position> CalculatePath(Position initialPosition, Position finalPosition, PathfinderMetrics metrics = null)
{
Position startPosition, endPosition;
//no path needed.
if (initialPosition.Equals(finalPosition))
{
return(new List <Position>());
}
//Allows for preprocessing (if needed again in the future)
startPosition = initialPosition;
endPosition = finalPosition;
//look for caches where startposition ==||== endposition match also
//TODO
//end cache TODO
List <Position> path = GetPathBetweenPositions(startPosition, endPosition, out int visitedNodeCount, out int frontierNodeCount);
if (path.Count == 0)
{
//no path found
return(path);
}
//add metrics if requested
if (metrics != null)
{
metrics.FrontierSize = frontierNodeCount;
metrics.VisitedNodes = visitedNodeCount;
}
return(path);
}
