/// <summary>
/// Resets the graph and the AStar instance so that pathfinding can be run again
/// </summary>
private void ResetGraph()
{
m_SolverFactory.CreateSolver(m_AlgorithmType, m_Grid, Heuristic, out m_PathFinder, out m_PathFindingListener);
ResetNodes();
if (GenerateWalls)
{
GenerateRandomWalls();
}
if (!SaveEndPoints)
{
SetStartAndEnd();
}
else
{
//The call to ResetNodes set everything the CellState.None, so we must reset these
m_Grid.Set(m_Start, CellState.Start);
m_Grid.Set(m_End, CellState.End);
}
m_GraphState = PathfindingGraphState.Ready;
}
/// <summary>
/// Runs a single step of the pathfinding process
/// </summary>
private void RunOneStep()
{
m_Stopwatch.Start();
var path = m_PathFinder.PathFindOneStep(m_Start, m_End);
m_Stopwatch.Stop();
if (path != null)
{
ReportPathFinished(path);
}
else
{
m_GraphState = PathfindingGraphState.InProgress;
ColorGridFromPathData(null);
}
}
/// <summary>
/// Performs any necessary cleanup at the end of pathfinding and
/// populates the member PathFindingData instance with relevant data
/// </summary>
private void ReportPathFinished(Stack<Vector2i> path)
{
m_GraphState = PathfindingGraphState.Finished;
var pathFindingTime = m_Stopwatch.Elapsed;
m_Stopwatch.Reset();
var pathLength = path.Count;
var nodesVisited = m_PathFindingListener.Open.Count + m_PathFindingListener.Closed.Count;
ColorGridFromPathData(path);
Data.GraphSize = m_Grid.Count;
Data.PathfindingTime = pathFindingTime;
Data.TotalPathfindingTime += pathFindingTime;
Data.PathLength = pathLength;
Data.NodesVisited = nodesVisited;
Data.TotalNodesVisited += nodesVisited;
Data.TotalPathsComputed++;
}
