protected override void Initialize() { base.Initialize(); if (fMap == null) { fMap = new uint[mapWidth, mapHeight]; } else { Array.Clear(fMap, 0, fMap.Length); } if (gMap == null) { gMap = new uint[mapWidth, mapHeight]; } else { Array.Clear(fMap, 0, fMap.Length); } fMap.SetGrid(infinite); gMap.SetGrid(infinite); openset.Enqueue(0, start); inOpenset[sx, sy] = true; gMap[sx, sy] = 0; fMap[sx, sy] = heuristicFunction(sx, sy, gx, gy); }