public CollectPath(Point s, Point e, int index)
{
workList = new List <Point>();
pathList = new List <Point>();
if (index == 1)
{
var path = new PathFinderAStar(new NodeAS(s.i, s.j, true), new NodeAS(e.i, e.j, true));
foreach (var node in path.workList)
{
workList.Add(new Point(node.i, node.j));
}
foreach (var node in path.pathList)
{
pathList.Add(new Point(node.i, node.j));
}
time = path.time;
}
else if (index == 2)
{
var path = new PathFinderDijkstra(new NodeDi(s.i, s.j, true), new NodeDi(e.i, e.j, true));
foreach (var node in path.workList)
{
workList.Add(new Point(node.i, node.j));
}
foreach (var node in path.pathList)
{
pathList.Add(new Point(node.i, node.j));
}
time = path.time;
}
else if (index == 3)
{
var path = new PathFindingJPF(new NodeJPS(s.i, s.j, true), new NodeJPS(e.i, e.j, true));
foreach (var node in path.workList)
{
workList.Add(new Point(node.i, node.j));
}
foreach (var node in path.pathList)
{
pathList.Add(new Point(node.i, node.j));
}
time = path.time;
}
}
public Navigator(Vector2 dimensions, float granularity, Func<Vector2, bool> isAccessible)
{
Debug.Assert(dimensions.X > 0 && dimensions.Y > 0);
Debug.Assert(granularity > 0);
_granularity = granularity;
var pathFinderGrid = new byte[AWMathHelper.CeilingPowerTwo(CoordinateToIndex(dimensions.X)), CoordinateToIndex(dimensions.Y)];
for (var gridY = 0; gridY < pathFinderGrid.GetLength(1); gridY++)
for (var gridX = 0; gridX < pathFinderGrid.GetLength(0); gridX++)
pathFinderGrid[gridX, gridY] = isAccessible(IndicesToVector2(gridX, gridY)) ? (byte)1 : (byte)0;
_pathFinder = new PathFinderAStar(pathFinderGrid)
{
HeuristicEstimate = 1,
SearchLimit = 20000,
};
}
