public virtual void Initilize()
{
if (initialized)
{
Exception err = new Exception("ERROR: AIPathfinder.Initialize() - Can't initialize more then once!");
}
if (map == null)
{
Exception err = new Exception("ERROR: AIPathfinder.Initialize() - Set map before calling this method!");
}
if (character == null)
{
Exception err = new Exception("ERROR: AIPathfinder.Initilize() - Set character before calling this method!");
}
openQueue = new PriorityQueueB <AIPathfinderNode>(new AINodeComparer());
closeList = new List <AIPathfinderNode>();
if (grid == null)
{
grid = new byte[map.Width, map.Height];
// get the cost of each node as seend from character's perspective
for (int w = 0; w < map.Width; w++)
{
for (int h = 0; h < map.Height; h++)
{
grid[w, h] = character.TypeToCost(
map.Node(w, h).Type
);
}
}
}
parentNode = new AIPathfinderNode();
parentNode.G = 0;
parentNode.H = heuristicEstimateValue;
parentNode.F = parentNode.G + parentNode.H;
parentNode.X = startNode.X;
parentNode.Y = startNode.Y;
parentNode.PX = parentNode.X;
parentNode.PY = parentNode.Y;
initialized = true;
this.state = AIPathfinderState.Idle;
}