/// <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 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);
}
void DoAStar(IntVector3 src, IntVector3 dst)
{
long startBytes, stopBytes;
Stopwatch sw = new Stopwatch();
GC.Collect();
startBytes = GC.GetTotalMemory(true);
int gc0 = GC.CollectionCount(0);
int gc1 = GC.CollectionCount(1);
int gc2 = GC.CollectionCount(2);
sw.Start();
var initLocs = this.SrcPos.ToDirections().Select(d => src + d)
.Where(p => m_map.Bounds.Contains(p) && !m_map.GetBlocked(p));
var astar = new AStar(initLocs, new MyTarget(m_map, dst, this.DstPos));
if (!this.Step)
{
var status = astar.Find();
sw.Stop();
gc0 = GC.CollectionCount(0) - gc0;
gc1 = GC.CollectionCount(1) - gc1;
gc2 = GC.CollectionCount(2) - gc2;
stopBytes = GC.GetTotalMemory(true);
this.MemUsed = stopBytes - startBytes;
this.TicksUsed = sw.ElapsedTicks;
this.GCCollections = String.Format("{0}/{1}/{2}", gc0, gc1, gc2);
this.Status = status;
m_nodes = astar.NodeMap;
if (status != AStarStatus.Found)
{
m_path = null;
this.PathLength = 0;
this.NodeCount = 0;
return;
}
m_path = new HashSet<IntVector3>(astar.GetPathLocationsReverse());
var dirs = astar.GetPathReverse().ToArray();
this.PathLength = dirs.Length;
this.NodeCount = astar.NodeMap.Count;
InvalidateTileData();
Trace.TraceInformation("Ticks {0}, Mem {1}, Len {2}, NodeCount {3}, GC {4}", this.TicksUsed, this.MemUsed,
this.PathLength, this.NodeCount, this.GCCollections);
}
else
{
astar.DebugCallback = AStarDebugCallback;
m_contEvent.Reset();
AStarStatus status = AStarStatus.NotFound;
Task.Factory.StartNew(() =>
{
status = astar.Find();
})
.ContinueWith((task) =>
{
sw.Stop();
stopBytes = GC.GetTotalMemory(true);
this.MemUsed = stopBytes - startBytes;
this.TicksUsed = sw.ElapsedTicks;
this.Status = status;
m_nodes = astar.NodeMap;
if (status != AStarStatus.Found)
{
m_path = null;
this.PathLength = 0;
this.NodeCount = 0;
return;
}
m_path = new HashSet<IntVector3>(astar.GetPathLocationsReverse());
var dirs = astar.GetPathReverse().ToArray();
this.PathLength = dirs.Length;
this.NodeCount = astar.NodeMap.Count;
InvalidateTileData();
}, TaskScheduler.FromCurrentSynchronizationContext());
}
}