/// <summary>
/// Initializes (or re-intializes) a pathfinding task. Use this if ïf the PFTask was default constructed or you wish the re-initialize an instance PFTask.
/// </summary>
/// <param name="startPoint">Starting point of the path.</param>
/// <param name="targetPoint">Target point of the path.</param>
/// <param name="map">Topographic data to use for pathfinding. Must inheirit from interface: IPFMap.</param>
/// <param name="wait">Wait for completion of current pathfinding.</param>
/// <param name="includeDiagonals"></param>
/// <param name="nodeBaseCost"></param>
/// <param name="useFailsafe"></param>
/// <returns></returns>
public bool Initialize(IPFVector startPoint, IPFVector targetPoint, IOPFMap map, bool wait = false,
bool includeDiagonals = true, bool useFailsafe = false)
{
if (!isDone)
{
if (!wait)
{
return(false);
}
if (!WaitJoin())
{
return(false);
}
}
PFThreadDeleteTID(instanceData);
pfStatus = OPFStatus.TaskIsRunning;
if (!useFailsafe)
{
instanceData = FindPathExThreaded(startPoint.IntX, startPoint.IntY, targetPoint.IntX, targetPoint.IntY,
map.GetLinearTopography(), map.Width, map.Height, (int)map.MaxPathlength, includeDiagonals, map.NodeBaseCost);
}
else
{
instanceData = FindPathExThreadedFailsafe(startPoint.IntX, startPoint.IntY, targetPoint.IntX, targetPoint.IntY,
map.GetLinearTopography(), map.Width, map.Height, (int)map.MaxPathlength, includeDiagonals, map.NodeBaseCost);
}
return(true);
}
/// <summary>
/// Synchronizes the task with the calling thread.
/// </summary>
/// <returns>Bool: true = PFTask was synchronized with calling thread, false = no task has been started.</returns>
public bool WaitJoin()
{
if (PFThreadWaitJoin(instanceData))
{
pfStatus = OPFStatus.TaskUninitialized;
return(true);
}
else
{
pfStatus = OPFStatus.TaskUninitialized;
return(false);
}
}
/// <summary>
/// Starts a new threaded pathfinding task.
/// </summary>
/// <param name="startPoint">Starting point of the path.</param>
/// <param name="targetPoint">Target point of the path.</param>
/// <param name="map">Topographic data to use for pathfinding. Must inheirit from interface: IPFMap.</param>
/// <param name="includeDiagonals"></param>
/// <param name="useFailsafe"></param>
public PFTask(IPFVector startPoint, IPFVector targetPoint, IOPFMap map, bool includeDiagonals = true, bool useFailsafe = false)
{
pfStatus = OPFStatus.TaskIsRunning;
byte[] linearTopography = map.GetLinearTopography();
if (!useFailsafe)
{
instanceData = FindPathExThreaded(startPoint.IntX, startPoint.IntY, targetPoint.IntX, targetPoint.IntY, linearTopography,
map.Width, map.Height, (int)map.MaxPathlength, includeDiagonals, map.NodeBaseCost);
}
else
{
instanceData = FindPathExThreadedFailsafe(startPoint.IntX, startPoint.IntY, targetPoint.IntX, targetPoint.IntY,
linearTopography, map.Width, map.Height, (int)map.MaxPathlength, includeDiagonals, map.NodeBaseCost);
}
}