public static IPathSearch FromPoints(World world, Locomotor locomotor, Actor self, IEnumerable <CPos> froms, CPos target, BlockedByActor check)
{
var graph = new PathGraph(LayerPoolForWorld(world), locomotor, self, world, check);
var search = new PathSearch(graph);
search.heuristic = search.DefaultEstimator(target);
// The search will aim for the shortest path by default, a weight of 100%.
// We can allow the search to find paths that aren't optimal by changing the weight.
// We provide a weight that limits the worst case length of the path,
// e.g. a weight of 110% will find a path no more than 10% longer than the shortest possible.
// The benefit of allowing the search to return suboptimal paths is faster computation time.
// The search can skip some areas of the search space, meaning it has less work to do.
// We allow paths up to 25% longer than the shortest, optimal path, to improve pathfinding time.
search.heuristicWeightPercentage = 125;
search.isGoal = loc =>
{
var locInfo = search.Graph[loc];
return(locInfo.EstimatedTotal - locInfo.CostSoFar == 0);
};
foreach (var sl in froms)
{
if (world.Map.Contains(sl))
{
search.AddInitialCell(sl);
}
}
return(search);
}
public static IPathSearch Search(World world, Locomotor locomotor, Actor self, BlockedByActor check, Func <CPos, bool> goalCondition)
{
var graph = new PathGraph(LayerPoolForWorld(world), locomotor, self, world, check);
var search = new PathSearch(graph);
search.isGoal = goalCondition;
search.heuristic = loc => 0;
return(search);
}
public static IPathSearch Search(World world, MobileInfo mi, Actor self, bool checkForBlocked, Func <CPos, bool> goalCondition)
{
var graph = new PathGraph(CellInfoLayerManager.Instance.NewLayer(world.Map), mi, self, world, checkForBlocked);
var search = new PathSearch(graph);
search.isGoal = goalCondition;
search.heuristic = loc => 0;
return(search);
}
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 FromPoints(IWorld world, IMobileInfo mi, IActor self, IEnumerable <CPos> froms, CPos target, bool checkForBlocked)
{
var graph = new PathGraph(CellInfoLayerManager.Instance.NewLayer(world.Map), mi, self, world, checkForBlocked);
var search = new PathSearch(graph)
{
heuristic = DefaultEstimator(target)
};
foreach (var sl in froms.Where(sl => world.Map.Contains(sl)))
{
search.AddInitialCell(sl);
}
return(search);
}
public static IPathSearch FromPoint(IWorld world, IMobileInfo mi, IActor self, CPos from, CPos target, bool checkForBlocked)
{
var graph = new PathGraph(CellInfoLayerManager.Instance.NewLayer(world.Map), mi, self, world, checkForBlocked);
var search = new PathSearch(graph)
{
heuristic = DefaultEstimator(target)
};
if (world.Map.Contains(from))
{
search.AddInitialCell(from);
}
return(search);
}
public static PathSearch ToTargetCellByPredicate(
World world, Locomotor locomotor, Actor self, IEnumerable <CPos> froms, Func <CPos, bool> targetPredicate, BlockedByActor check,
Func <CPos, int> customCost = null)
{
var graph = new PathGraph(LayerPoolForWorld(world), locomotor, self, world, check, customCost, null, false, DefaultLaneBias);
var search = new PathSearch(graph, loc => 0, DefaultHeuristicWeightPercentage, targetPredicate);
foreach (var sl in froms)
{
if (world.Map.Contains(sl))
{
search.AddInitialCell(sl);
}
}
return(search);
}
public static IPathSearch FromPoints(World world, MobileInfo mi, Actor self, IEnumerable <CPos> froms, CPos target, bool checkForBlocked)
{
var graph = new PathGraph(CellInfoLayerManager.Instance.NewLayer(world.Map), 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);
}
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 PathSearch ToTargetCell(
World world, Locomotor locomotor, Actor self, IEnumerable <CPos> froms, CPos target, BlockedByActor check,
Func <CPos, int> customCost = null,
Actor ignoreActor = null,
bool inReverse = false,
bool laneBias = DefaultLaneBias,
Func <CPos, int> heuristic = null,
int heuristicWeightPercentage = DefaultHeuristicWeightPercentage)
{
var graph = new PathGraph(LayerPoolForWorld(world), locomotor, self, world, check, customCost, ignoreActor, inReverse, laneBias);
heuristic = heuristic ?? DefaultCostEstimator(locomotor, target);
var search = new PathSearch(graph, heuristic, heuristicWeightPercentage, loc => loc == target);
foreach (var sl in froms)
{
if (world.Map.Contains(sl))
{
search.AddInitialCell(sl);
}
}
return(search);
}
public static IPathSearch Search(IWorld world, IMobileInfo mi, IActor self, bool checkForBlocked)
{
var graph = new PathGraph(CellInfoLayerManager.Instance.NewLayer(world.Map), mi, self, world, checkForBlocked);
return(new PathSearch(graph));
}
