public static FindPathProcess <T> FindPath <T>(this iExplorer <T> explorer, FindPathOptions options, T start, params T[] goal)
{
// set default options
if (options == null)
{
options = FindPathOptions.c_Default;
}
// create result
var result = new FindPathProcess <T>();
// common sense check
if (start == null || goal.Length == 0 || explorer == null)
{
result.Complete(FindPathResult.BadArguments);
return(result);
}
// find only reachable goals
goal = goal
.Where(n => explorer.Reachable(start, n))
.ToArray();
// is reachable
if (goal.Length == 0)
{
result.Complete(FindPathResult.NotReachable);
return(result);
}
// init result inner data
result.Init(options, explorer, start, goal);
return(result);
}
//////////////////////////////////////////////////////////////////////////
public void Init(FindPathOptions options, iExplorer <T> exlorer, T start, T[] goal)
{
if (Result == FindPathResult.None)
{
// save data
Options = options;
Explorer = exlorer;
Start = start;
Goal = goal;
// set running state
Result = FindPathResult.Running;
// allocate collections
Path = new LinkedList <T>();
OpenSet = new FastPriorityQueue <PathNode <T> >(Pathfinder.c_AdaptiveBufferExperiance.Average);
ClosedSet = new HashSet <T>();
ClosedNodes = new LinkedList <PathNode <T> >();
// create start node, add to open set
var startNode = new PathNode <T>(start)
{
СameFrom = null,
PathCost = 0.0f,
PathCostEstimated = 0.0f,
Cost = 0.0f
};
OpenSet.Enqueue(startNode, startNode.Cost);
}
}
public static FindPathProcess <T> FindPath <T>(this iExplorer <T> explorer, out FindPathProcess <T> findPathProcess, FindPathOptions options, T start, params T[] goal)
{
findPathProcess = explorer.FindPath(options, start, goal);
return(findPathProcess);
}