public Builder()
{
heuristic = ZeroPathCostHeuristic;
maxSearchDepth = UnlimitedSearchDepth;
maxSecondsPerSearch = UnlimitedSecondsPerSearch;
assumeNonNegativeCosts = DefaultAssumeNonNegativeCosts;
}
//Maximum depth defines maximum number of edges, allowed in a path.
//A negative value indicates no depth limit.
public AStarPathfinder(
PathCostHeuristic <TGraphNode> heuristic) : this(new AStarPathfinderConfiguration <TGraphNode> .Builder()
.UseHeuristic(heuristic)
.AssumeNonNegativeCosts()
.Build())
{
}
//private bool assumeNonNegativeCosts;
/// <summary>
/// Initializes a new instance of the <see cref="Terrapass.GameAi.Goap.Graphs.AstarPathfinderConfiguration`1+Builder"/>
/// with default configuration (zero heuristic, no limit on search depth, no assumptions).
/// </summary>
public Builder()
{
this.heuristic = ZeroPathCostHeuristic;
this.maxSearchDepth = UNLIMITED_SEARCH_DEPTH;
this.maxSecondsPerSearch = UNLIMITED_SECONDS_PER_SEARCH;
//this.assumeNonNegativeCosts = DEFAULT_ASSUME_NON_NEGATIVE_COSTS;
}
/// <summary>
/// Initializes a new instance of the <see cref="Terrapass.GameAi.Goap.Graphs.AstarPathfinder`1"/> class.
/// </summary>
/// <param name="heuristic">Heuristic to be used.</param>
/// <param name="maxSearchDepth">
/// Maximum depth for search, i.e. maximum number of edges, allowed in a path.
/// A negative value indicates no depth limit.
/// </param>
public AstarPathfinder(
PathCostHeuristic <GraphNode> heuristic,
int maxSearchDepth = AstarPathfinderConfiguration <GraphNode> .UNLIMITED_SEARCH_DEPTH
) : this(new AstarPathfinderConfiguration <GraphNode> .Builder()
.UseHeuristic(heuristic)
.LimitSearchDepth(maxSearchDepth)
.Build())
{
}
public AStarPathfinder(AStarPathfinderConfiguration <TGraphNode> configuration = null)
{
if (configuration == null)
{
configuration = new AStarPathfinderConfiguration <TGraphNode> .Builder().Build();
}
heuristic = configuration.Heuristic;
maxSearchDepth = configuration.MaxSearchDepth;
maxSecondsPerSearch = configuration.MaxSecondsPerSearch;
assumeNonNegativeCosts = configuration.AssumeNonNegativeCosts;
}
private AStarPathfinderConfiguration(
PathCostHeuristic <TGraphNode> heuristic,
int maxSearchDepth = UnlimitedSearchDepth,
float maxSecondsPerSearch = UnlimitedSecondsPerSearch,
bool assumeNonNegativeCosts = DefaultAssumeNonNegativeCosts
)
{
Heuristic = PreconditionUtils.EnsureNotNull(heuristic, "heuristic must not be null");
MaxSearchDepth = maxSearchDepth;
MaxSecondsPerSearch = maxSecondsPerSearch;
AssumeNonNegativeCosts = assumeNonNegativeCosts;
}
//public bool AssumeNonNegativeCosts { get; }
private AstarPathfinderConfiguration(
PathCostHeuristic <GraphNode> heuristic,
int maxSearchDepth,
float maxSecondsPerSearch //,
//bool assumeNonNegativeCosts
)
{
this.Heuristic = PreconditionUtils.EnsureNotNull(heuristic, "heuristic must not be null");
this.MaxSearchDepth = maxSearchDepth;
this.MaxSecondsPerSearch = maxSecondsPerSearch;
//this.AssumeNonNegativeCosts = assumeNonNegativeCosts;
}
//private readonly bool assumeNonNegativeCosts;
public AstarPathfinder(AstarPathfinderConfiguration <GraphNode> configuration = null)
{
// If no configuration is provided, use default.
if (configuration == null)
{
configuration = new AstarPathfinderConfiguration <GraphNode> .Builder().Build();
}
this.heuristic = configuration.Heuristic;
this.maxSearchDepth = configuration.MaxSearchDepth;
this.maxSecondsPerSearch = configuration.MaxSecondsPerSearch;
//this.assumeNonNegativeCosts = configuration.AssumeNonNegativeCosts;
}
// Specifies the heuristic to be used by A*.
public Builder UseHeuristic(PathCostHeuristic <TGraphNode> pathCostHeuristic)
{
heuristic = PreconditionUtils.EnsureNotNull(pathCostHeuristic, "heuristic");
return(this);
}
