/// <summary>
/// Initializes a new instance of the <see cref="DBDBOPAgent"/> class.
/// </summary>
/// <param name="_searchMaster">_search master.</param>
/// <param name="_grid">_grid.</param>
/// <param name="_startNode">_start node.</param>
/// <param name="_targetNode">_target node.</param>
/// <param name="_nodesToExpand">_nodes to expand.</param>
public DBDBOPAgent(DynBiDirBeamPath _searchMaster, Node[,] _grid, Node _startNode, Node _targetNode, int _nodesToExpand)
{
searchMaster = _searchMaster;
grid = _grid;
startNode = _startNode;
targetNode = _targetNode;
nodesToExpand = _nodesToExpand;
openSet = new Heap<Node>(grid.GetLength(0) * grid.GetLength(1));
closedSet = new HashSet<Node>();
agentResult = new AgentResult(false);
doneEvent = new ManualResetEvent(false);
}
/// <summary>
/// Performs Dynamic Bi-Directional search through a grid on
/// a new thread
/// </summary>
/// <param name="startPos">Start position.</param>
/// <param name="targetPos">Target position.</param>
/// <param name="callback">Callback.</param>
/// <param name="pathId">Path identifier.</param>
public IEnumerator DynamicBiDirectional(Vector3 startPos, Vector3 targetPos, Action<Vector3[], bool> callback, int pathId, float totalMs)
{
//Added for mesh copy O(n2) heavy
Node[,] meshCopy = grid.GetGridCopy();
//Done for frame processing take over
yield return null;
UnityEngine.Debug.Log("Going into DynamicBiDirectional Thread");
DynBiDirBeamPath dynPath = new DynBiDirBeamPath(grid, meshCopy, startPos, targetPos, callback, pathId, totalMs);
paths.Add(dynPath);
//Starts a new thread using threadpool management
ThreadPool.QueueUserWorkItem(dynPath.ThreadPoolCallback, paths.Count);
}
