//////////////////////////////////////////////////////////////////////////
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 AStarSearch(IGridProvider grid)
{
_grid = grid;
_open = new FastPriorityQueue(_grid.Size.X * _grid.Size.Y);
}