Refactor astar pt3 #3650
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Refactor astar pt3 #3650
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Current A* implementation is tailored for single unit/single path requests. But can provide a wider functionality, like calculation of shared flow field, or fast distance transform or group path finding. Current changes are trying to make this component more generic: - A* wave propagation now uses separate predicate function, which provides checks for goal and heuristic costs - Path tracing moved to a standalone function
1. Wrapped PF map cache into a standalone structure/instance 2. Moved all global state out of astar.cpp. 3. Using backward path search. It provides more opportunities for reusing previous contexts. 4. Introduced cost accessor to A* wave exploration
Implemented debug rendering for pathginding: - renderer for blocking layer - rendering of current paths - drawing of path context
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