/// <summary>
/// Constructor. Takes a goal map where in all goals are treated as threats to be avoided,
/// and a magnitude to use (defaulting to 1.2).
/// </summary>
/// <param name="baseMap">The underlying goal map to use.</param>
/// <param name="magnitude">Magnitude to multiply by during calculation.</param>
public FleeMap(GoalMap baseMap, double magnitude = 1.2)
{
_baseMap = baseMap ?? throw new ArgumentNullException(nameof(baseMap));
Magnitude = magnitude;
_goalMap = new ArrayMap <double?>(baseMap.Width, baseMap.Height);
_nodes = new ArrayMap <PositionNode>(baseMap.Width, baseMap.Height);
foreach (var pos in _nodes.Positions())
{
_nodes[pos] = new PositionNode(pos);
}
_baseMap.Updated += Update;
}
/// <summary>
/// Constructor. Takes a goal map where in all goals are treated as threats to be avoided,
/// and a magnitude to use (defaulting to 1.2).
/// </summary>
/// <param name="baseMap">The underlying goal map to use.</param>
/// <param name="magnitude">Magnitude to multiply by during calculation.</param>
public FleeMap(GoalMap baseMap, double magnitude = 1.2)
{
_baseMap = baseMap ?? throw new ArgumentNullException(nameof(baseMap));
Magnitude = magnitude;
_goalMap = new ArrayView <double?>(baseMap.Width, baseMap.Height);
_nodes = new ArrayView <PositionNode>(baseMap.Width, baseMap.Height);
_openSet = new GenericPriorityQueue <PositionNode, double>(baseMap.Width * baseMap.Height);
_edgeSet = new Queue <Point>();
_closedSet = new BitArray(baseMap.Width * baseMap.Height);
foreach (var pos in _nodes.Positions())
{
_nodes[pos] = new PositionNode(pos);
}
_baseMap.Updated += Update;
// Necessary to ensure the FleeMap is valid immediately after construction
Update();
}