public List <CPos> FindPath(PathSearch search)
{
using (new PerfSample("Pathfinder"))
{
using (search)
{
List <CPos> path = null;
while (!search.Queue.Empty)
{
var p = search.Expand(world);
if (search.Heuristic(p) == 0)
{
path = MakePath(search.CellInfo, p);
break;
}
}
var dbg = world.WorldActor.TraitOrDefault <PathfinderDebugOverlay>();
if (dbg != null)
{
dbg.AddLayer(search.Considered.Select(p => new Pair <CPos, int>(p, search.CellInfo[p].MinCost)), search.MaxCost, search.Owner);
}
if (path != null)
{
return(path);
}
}
// no path exists
return(emptyPath);
}
}
public List <CPos> FindBidiPath( /* searches from both ends toward each other */
PathSearch fromSrc,
PathSearch fromDest)
{
using (new PerfSample("Pathfinder"))
{
using (fromSrc)
using (fromDest)
while (!fromSrc.queue.Empty && !fromDest.queue.Empty)
{
/* make some progress on the first search */
var p = fromSrc.Expand(world);
if (fromDest.cellInfo[p.X, p.Y].Seen && fromDest.cellInfo[p.X, p.Y].MinCost < float.PositiveInfinity)
{
return(MakeBidiPath(fromSrc, fromDest, p));
}
/* make some progress on the second search */
var q = fromDest.Expand(world);
if (fromSrc.cellInfo[q.X, q.Y].Seen && fromSrc.cellInfo[q.X, q.Y].MinCost < float.PositiveInfinity)
{
return(MakeBidiPath(fromSrc, fromDest, q));
}
}
return(new List <CPos>(0));
}
}
public List <CPos> FindBidiPath( /* searches from both ends toward each other */
PathSearch fromSrc,
PathSearch fromDest)
{
using (new PerfSample("Pathfinder"))
{
using (fromSrc)
using (fromDest)
{
List <CPos> path = null;
while (!fromSrc.queue.Empty && !fromDest.queue.Empty)
{
/* make some progress on the first search */
var p = fromSrc.Expand(world);
if (fromDest.cellInfo[p.X, p.Y].Seen &&
fromDest.cellInfo[p.X, p.Y].MinCost < float.PositiveInfinity)
{
path = MakeBidiPath(fromSrc, fromDest, p);
break;
}
/* make some progress on the second search */
var q = fromDest.Expand(world);
if (fromSrc.cellInfo[q.X, q.Y].Seen &&
fromSrc.cellInfo[q.X, q.Y].MinCost < float.PositiveInfinity)
{
path = MakeBidiPath(fromSrc, fromDest, q);
break;
}
}
var dbg = world.WorldActor.TraitOrDefault <DebugOverlay>();
if (dbg != null)
{
dbg.AddLayer(fromSrc.considered.Select(p => new Pair <CPos, int>(p, fromSrc.cellInfo[p.X, p.Y].MinCost)), fromSrc.maxCost, fromSrc.owner);
dbg.AddLayer(fromDest.considered.Select(p => new Pair <CPos, int>(p, fromDest.cellInfo[p.X, p.Y].MinCost)), fromDest.maxCost, fromDest.owner);
}
if (path != null)
{
return(path);
}
}
return(emptyPath);
}
}
public List <CPos> FindPath(PathSearch search)
{
using (new PerfSample("Pathfinder"))
{
using (search)
while (!search.queue.Empty)
{
var p = search.Expand(world);
if (search.heuristic(p) == 0)
{
return(MakePath(search.cellInfo, p));
}
}
// no path exists
return(new List <CPos>(0));
}
}