public List <CPos> FindPath(PathSearch search)
{
using (new PerfSample("Pathfinder"))
{
using (search)
{
List <CPos> path = null;
while (!search.queue.Empty)
{
var p = search.Expand(world);
if (search.heuristic(p) == 0)
{
path = MakePath(search.cellInfo, p);
break;
}
}
var dbg = world.WorldActor.TraitOrDefault <DebugOverlay>();
if (dbg != null)
{
dbg.AddLayer(search.considered.Select(p => new Pair <CPos, int>(p, search.cellInfo[p.X, p.Y].MinCost)), search.maxCost, search.owner);
}
if (path != null)
{
return(path);
}
}
// no path exists
return(emptyPath);
}
}
public List <CPos> FindPath(PathSearch search)
{
using (new PerfSample("Pathfinder"))
{
using (search)
while (!search.queue.Empty)
{
var p = search.Expand(world);
if (search.heuristic(p) == 0)
{
return(MakePath(search.cellInfo, p));
}
}
// no path exists
return(new List <CPos>(0));
}
}