public void Calculate <Map>(Map map, T target)
where Map : IPathingMap <T>
{
frontier.Enqueue(target, 0);
costs[target] = 0;
while (frontier.Length != 0)
{
var curr = frontier.Dequeue();
neighbours.Clear();
map.GetAvailableExits(curr, neighbours);
for (int i = 0; i < neighbours.Length; ++i)
{
var next = neighbours[i];
int newCost = costs[curr] + map.GetCost(curr, next);
if (!costs.TryGetValue(next, out int nextCost) || newCost < nextCost)
{
costs[next] = newCost;
int priority = newCost;
frontier.Enqueue(next, priority);
cameFrom[next] = curr;
}
}
}
}
public void FindPath <Map>(Map map, T start, T end, NativeList <T> output)
where Map : IPathingMap <T>
{
_frontier.Enqueue(start, 0);
_costs[start] = 0;
while (_frontier.Length > 0)
{
var currNode = _frontier.Dequeue();
var curr = currNode;
if (curr.Equals(end))
{
break;
}
_neighbours.Clear();
map.GetAvailableExits(curr, _neighbours);
for (int i = 0; i < _neighbours.Length; ++i)
{
var next = _neighbours[i];
int newCost = _costs[curr] + map.GetCost(curr, next);
if (!_costs.TryGetValue(next, out int nextCost) || newCost < nextCost)
{
_costs[next] = newCost;
int priority = newCost + (int)map.GetDistance(next, end);
_frontier.Enqueue(next, priority);
_parents[next] = curr;
}
}
}
GetPath(start, end, output);
}
