public static IPathSearch Search(World world, MobileInfo mi, Actor self, bool checkForBlocked, Func <CPos, bool> goalCondition)
{
var graph = new PathGraph(LayerPoolForWorld(world), mi, self, world, checkForBlocked);
var search = new PathSearch(graph);
search.isGoal = goalCondition;
search.heuristic = loc => 0;
return(search);
}
public static IPathSearch FromPoint(World world, MobileInfo mi, Actor self, CPos from, CPos target, bool checkForBlocked)
{
var graph = new PathGraph(LayerPoolForWorld(world), mi, self, world, checkForBlocked);
var search = new PathSearch(graph)
{
heuristic = DefaultEstimator(target),
};
search.isGoal = loc => {
var locInfo = search.Graph[loc];
return(locInfo.EstimatedTotal - locInfo.CostSoFar == 0);
};
if (world.Map.Contains(from))
{
search.AddInitialCell(from);
}
return(search);
}
public static IPathSearch FromPoints(World world, MobileInfo mi, Actor self, IEnumerable <CPos> froms, CPos target, bool checkForBlocked)
{
var graph = new PathGraph(LayerPoolForWorld(world), mi, self, world, checkForBlocked);
var search = new PathSearch(graph)
{
heuristic = DefaultEstimator(target)
};
search.isGoal = loc =>
{
var locInfo = search.Graph[loc];
return(locInfo.EstimatedTotal - locInfo.CostSoFar == 0);
};
foreach (var sl in froms.Where(sl => world.Map.Contains(sl)))
{
search.AddInitialCell(sl);
}
return(search);
}