/// <summary>
/// Find route from init locations to destination defined by IAstarTarget
/// </summary>
public static AStarResult Find(IEnumerable<IntVector3> initLocs, IAStarTarget target,
int maxNodeCount = 200000, CancellationToken? cancellationToken = null)
{
var astar = new AStar(initLocs, target);
astar.MaxNodeCount = maxNodeCount;
if (cancellationToken.HasValue)
astar.CancellationToken = cancellationToken.Value;
var status = astar.Find();
return new AStarResult(status, astar.LastNode);
}
/// <summary>
/// Find route from init locations to destination defined by IAstarTarget
/// </summary>
public static AStarResult Find(IEnumerable <IntVector3> initLocs, IAStarTarget target,
int maxNodeCount = 200000, CancellationToken?cancellationToken = null)
{
var astar = new AStar(initLocs, target);
astar.MaxNodeCount = maxNodeCount;
if (cancellationToken.HasValue)
{
astar.CancellationToken = cancellationToken.Value;
}
var status = astar.Find();
return(new AStarResult(status, astar.LastNode));
}
public AStar(IEnumerable<IntVector3> initialLocations, IAStarTarget target)
{
this.MaxNodeCount = 200000;
this.CancellationToken = CancellationToken.None;
m_target = target;
m_nodeMap = new Dictionary<IntVector3, AStarNode>();
m_openList = new BinaryHeap<AStarNode>();
foreach (var p in initialLocations)
{
ushort g = 0;
ushort h = m_target.GetHeuristic(p);
var node = new AStarNode(p, null);
node.G = g;
node.H = h;
m_openList.Add(node);
m_nodeMap.Add(p, node);
}
}
public AStar(IEnumerable <IntVector3> initialLocations, IAStarTarget target)
{
this.MaxNodeCount = 200000;
this.CancellationToken = CancellationToken.None;
m_target = target;
m_nodeMap = new Dictionary <IntVector3, AStarNode>();
m_openList = new BinaryHeap <AStarNode>();
foreach (var p in initialLocations)
{
ushort g = 0;
ushort h = m_target.GetHeuristic(p);
var node = new AStarNode(p, null);
node.G = g;
node.H = h;
m_openList.Add(node);
m_nodeMap.Add(p, node);
}
}
public static IEnumerable<AStarResult> FindMany(IEnvironmentObject env,
IntVector3 src, DirectionSet srcPositioning, IAStarTarget target,
int maxNodeCount = 200000, CancellationToken? cancellationToken = null)
{
var initLocs = env.GetPositioningLocations(src, srcPositioning);
var astar = new AStar(initLocs, target);
astar.MaxNodeCount = maxNodeCount;
if (cancellationToken.HasValue)
astar.CancellationToken = cancellationToken.Value;
AStarStatus status;
while ((status = astar.Find()) == AStarStatus.Found)
yield return new AStarResult(status, astar.LastNode);
}
/// <summary>
/// Find route from src to destination defined by IAstarTarget
/// </summary>
public static AStarResult Find(IAStarEnvironment environment, IntPoint3 src, DirectionSet srcPositioning, IAStarTarget target,
int maxNodeCount = 200000, CancellationToken? cancellationToken = null)
{
var astar = new AStarImpl(environment, src, srcPositioning, target, maxNodeCount, cancellationToken);
var status = astar.Find();
return new AStarResult(astar.Nodes, astar.LastNode, status);
}
public AStarImpl(IAStarEnvironment environment, IntPoint3 src, DirectionSet srcPositioning,
IAStarTarget target, int maxNodeCount = 200000, CancellationToken? cancellationToken = null)
{
m_environment = environment;
m_src = src;
m_srcPositioning = srcPositioning;
m_maxNodeCount = maxNodeCount;
m_cancellationToken = cancellationToken.HasValue ? cancellationToken.Value : CancellationToken.None;
m_target = target;
m_nodeMap = new Dictionary<IntPoint3, AStarNode>();
m_openList = new BinaryHeap<AStarNode>();
AddInitialNodes();
}
public static IEnumerable<AStarResult> FindMany(IAStarEnvironment environment,
IntPoint3 src, DirectionSet srcPositioning, IAStarTarget target,
int maxNodeCount = 200000, CancellationToken? cancellationToken = null)
{
var astar = new AStarImpl(environment, src, srcPositioning, target, maxNodeCount, cancellationToken);
AStarStatus status;
while ((status = astar.Find()) == AStarStatus.Found)
yield return new AStarResult(astar.Nodes, astar.LastNode, status);
}
public static IEnumerable <AStarResult> FindMany(IEnvironmentObject env,
IntVector3 src, DirectionSet srcPositioning, IAStarTarget target,
int maxNodeCount = 200000, CancellationToken?cancellationToken = null)
{
var initLocs = env.GetPositioningLocations(src, srcPositioning);
var astar = new AStar(initLocs, target);
astar.MaxNodeCount = maxNodeCount;
if (cancellationToken.HasValue)
{
astar.CancellationToken = cancellationToken.Value;
}
AStarStatus status;
while ((status = astar.Find()) == AStarStatus.Found)
{
yield return(new AStarResult(status, astar.LastNode));
}
}
