public RegionPathCostHeuristic(Map map, IntVec3 start, CellRect end, IEnumerable <Region> destRegions, TraverseParms parms, NewPathFinder.PawnPathCostSettings pathCosts)
{
this.map = map;
startCell = start;
targetCell = end.CenterCell;
targetRect = end;
this.pathCosts = pathCosts;
rootRegions = new HashSet <Region>(destRegions);
traverseParms = parms;
}
public RegionLinkDijkstra(Map map, CellRect destination, IEnumerable <Region> startingRegions, IntVec3 target, TraverseParms parms, NewPathFinder.PawnPathCostSettings pathCosts)
{
this.map = map;
this.regionGrid = RegionPathCostHeuristic.regionGridGet(map.regionGrid);
this.traverseParms = parms;
this.targetCell = target;
this.rootCell = destination.CenterCell;
this.pathCostSettings = pathCosts;
avoidGrid = pathCosts.avoidGrid;
area = pathCosts.area;
nodes_popped = 0;
//if (DebugViewSettings.drawPaths && !NewPathFinder.disableDebugFlash)
//{
// debugPathfinder = new NewPathFinder(map);
//}
//Init the starting region links from the start cell
foreach (var region in startingRegions)
{
var minPathCost = RegionMedianPathCost(region);
foreach (RegionLink current in region.links)
{
var dist = RegionLinkDistance(rootCell, current, minPathCost);
if (distances.ContainsKey(current))
{
if (dist < distances[current])
{
linkTargetCells[current] = GetLinkTargetCell(rootCell, current);
}
dist = Math.Min(distances[current], dist);
}
else
{
linkTargetCells[current] = GetLinkTargetCell(rootCell, current);
}
distances[current] = dist;
}
foreach (var pair in PreciseRegionLinkDistances(region, destination))
{
var current = pair.First;
var dist = Math.Max(pair.Second, distances[current]);
distances[current] = dist;
queue.Push(new RegionLinkQueueEntry(region, current, dist, dist));
}
}
}
