public static IPathfinder <IDefinitionNodeNetwork, IPathfindNodeNetwork <AstarNode>, WaypointPath> CreateAstarPathfinder(this IPathfindaxManager pathfindaxManager, IDefinitionNodeNetwork nodeNetwork, IDistanceHeuristic _heuristic, int maxClearance = -1, int amountOfThreads = 1)
{
var pathfinder = pathfindaxManager.CreatePathfinder(nodeNetwork, new AStarAlgorithm(nodeNetwork.NodeCount, _heuristic), (definitionNodeNetwork, algorithm, cache) =>
{
var nodeGenerators = new List <IPathfindNodeGenerator <AstarNode> >();
if (definitionNodeNetwork is IDefinitionNodeGrid sourceNodeGrid)
{
nodeGenerators.Add(new BrushfireClearanceGenerator(sourceNodeGrid, maxClearance));
}
var astarNodeNetwork = new AstarNodeNetwork(definitionNodeNetwork, nodeGenerators.ToArray());
return(CreateRequestProcesser(astarNodeNetwork, algorithm, cache));
}, null, amountOfThreads);
pathfinder.Start();
return(pathfinder);
}
public AStarAlgorithm(int amountOfNodes, IDistanceHeuristic heuristic)
{
_openSet = new IndexMinHeap <AstarNode>(amountOfNodes);
_closedSet = new LookupArray(amountOfNodes);
_heuristic = heuristic;
}
