Class CooperativePathHandler Extends PathHandler

CooperativePathHandler (

int	threadID
int	totalThreadCount
int	temporalDepth

)

void DestroyNode (

GraphNode

node

)

Internal method to clean up node data.

void GetAllPathNodes (

GraphNode	node
System.Action<PathNode>	action

)

Calls a delegate with all path nodes associated with the specified node.

The default path handler only has one PathNode per GraphNode, but other path handlers may have more (e.g the CooperativePathHandler)

PathNode GetPathNode (

GraphNode

node

)

Returns the PathNode corresponding to the specified node.

The PathNode is specific to this PathHandler since multiple PathHandlers are used at the same time if multithreading is enabled.

PathNode GetPathNode (

int

nodeIndex

)

Path node associated with the specified node.

The default path handler only has one PathNode per GraphNode, but other path handlers may have more (e.g the CooperativePathHandler).

The PathNode is specific to this PathHandler since multiple PathHandlers are used at the same time if multithreading is enabled.

PathNode GetPathNode (

int	nodeIndex
int	t

)

PathNode GetPathNode (

GraphNode	node
int	t

)

void InitializeNode (

GraphNode

node

)

Internal method to initialize node data.

int temporalDepth = 30

Maximum number of time steps to be used in path planning.

A higher number increases both memory usage and the time to calculate a path. The memory usage increases linearly so a temporal depth of 20 will use roughly twice as much memory as a temporal depth of 10.

void ClearPathIDs ()

Set all nodes' pathIDs to 0.

System.Text.StringBuilder DebugStringBuilder = new System.Text.StringBuilder()

StringBuilder that paths can use to build debug strings.

Better for performance and memory usage to use a single StringBuilder instead of each path creating its own

BinaryHeap heap = new BinaryHeap(128)

Binary heap to keep track of nodes on the "Open list".

void InitializeForPath (

Path

p

)

PathNode[] nodes = new PathNode[0]

Array of all PathNodes.

ushort PathID

ID for the path currently being calculated or last path that was calculated.

int threadID

int totalThreadCount