// Return path
public static List <Vector3> ComputePath(ReducedVisibility singleton, Vector2 start, Vector2 end)
{
Global.pathPlanned++;
Stopwatch sw = Stopwatch.StartNew();
Vector2 dir = end - start;
Vector3 pos = new Vector3(start.x, start.y, Global.obstacleZ);
List <Vector3> path;
// if you can reach it directly
if (!Physics.BoxCast(pos, Agent.halfExtents, dir, Quaternion.identity, dir.magnitude))
{
Vector3 vDest = new Vector3(end.x, end.y, Global.agentZ);
pos.z = Global.agentZ;
path = new List <Vector3>()
{
vDest, pos
};
}
else
{
var g = new Graph(singleton, start, end);
path = g.AStarSearch();
}
sw.Stop();
Global.total += sw.Elapsed;
return(path);
}
public override void PartTwo(IInput input, IOutput output)
{
var map = input.ParseFullMap();
var area2d = Area2d.Create(map.Keys);
var graph = new Graph(map);
var path = graph.AStarSearch(
area2d.TopLeft,
area2d.BottomRight,
static (a, b) => PointHelpers.ManhattanDistance(a, b));
var totalCost = path.Skip(1)
.Sum(point => map[point]);
output.WriteProperty("Total Cost", totalCost);
}
