public TrailblazerPather_TwinAStar(PathfindData pathfindData) : base(pathfindData)
{
rraOpenSet = new Priority_Queue.FastPriorityQueue <CellRefNode>(map.Area);
rraClosedSet = new Dictionary <CellRef, int>();
cellRefNodeCache = new Dictionary <CellRef, CellRefNode>();
var cellPassRules = ThatApply <CellPassabilityRule>(
new CellPassabilityRule_PathGrid(pathfindData),
new CellPassabilityRule_DoorByPawn(pathfindData),
new CellPassabilityRule_NoPassDoors(pathfindData)
);
var passRules = Enumerable.Empty <PassabilityRule>();
var cellCostRules = ThatApply <CellCostRule>(
new CellCostRule_PathGrid(pathfindData),
new CellCostRule_Walls(pathfindData)
);
var costRules = ThatApply <CostRule>(new CostRule_MoveTicks(pathfindData));
rraPathfinderGrid = new PathfinderGrid(cellCostRules, costRules, cellPassRules, passRules);
// Initialize the RRA* algorithm
foreach (IntVec3 cell in pathfindData.DestRect)
{
CellRef cellRef = pathfindData.map.GetCellRef(cell);
rraClosedSet[cellRef] = 0;
rraOpenSet.Enqueue(GetNode(cellRef), 0);
}
}
protected TrailblazerPather(PathfindData pathfindData)
{
this.pathfindData = pathfindData;
var cellPassRules = ThatApply(CellPassabilityRules(pathfindData));
var passRules = ThatApply(PassabilityRules(pathfindData));
var cellCostRules = ThatApply(CellCostRules(pathfindData));
var costRules = ThatApply(CostRules(pathfindData));
pathfinderGrid = new PathfinderGrid(cellCostRules, costRules, cellPassRules, passRules);
}