PathHandler Class Reference

Handles thread specific path data. More...

Detailed Description

Handles thread specific path data.

Public Member Functions
	PathHandler (int threadID, int totalThreadCount)
void	ClearPathIDs ()
	Set all nodes' pathIDs to 0.
void	DestroyNode (GraphNode node)
	Internal method to clean up node data.
BinaryHeapM	GetHeap ()
	The internal heap.
PathNode	GetPathNode (int nodeIndex)
PathNode	GetPathNode (GraphNode node)
	Returns the PathNode corresponding to the specified node.
bool	HeapEmpty ()
	True if the heap is empty.
void	InitializeForPath (Path p)
void	InitializeNode (GraphNode node)
	Internal method to initialize node data.
PathNode	PopNode ()
	Pop the node with the lowest F score from the heap.
void	PushNode (PathNode node)
	Push a node to the heap.
void	RebuildHeap ()
	Rebuild the heap to account for changed node values.

Public Attributes
readonly System.Text.StringBuilder	DebugStringBuilder = new System.Text.StringBuilder()
	StringBuilder that paths can use to build debug strings.
PathNode[][]	nodes = new PathNode[0][]
	Array of buckets containing PathNodes.
readonly int	threadID
readonly int	totalThreadCount

Properties
ushort	PathID [get]
	ID for the path currently being calculated or last path that was calculated.

Private Attributes
Stack< PathNode[]>	bucketCache = new Stack<PathNode[]>()
bool[]	bucketCreated = new bool[0]
const int	BucketIndexMask = (1 << BucketSizeLog2)-1
bool[]	bucketNew = new bool[0]
const int	BucketSize = 1 << BucketSizeLog2
	Real bucket size.
const int	BucketSizeLog2 = 10
	Log2 size of buckets.
int	filledBuckets
BinaryHeapM	heap = new BinaryHeapM(128)
	Binary heap to keep track of nodes on the "Open list".
ushort	pathID
	Current PathID.

Constructor & Destructor Documentation

PathHandler	(	int	threadID,
		int	totalThreadCount
	)

Member Function Documentation

void ClearPathIDs

(

)

Set all nodes' pathIDs to 0.

See Also

Pathfinding.PathNode.pathID

void DestroyNode

(

GraphNode

node

)

Internal method to clean up node data.

BinaryHeapM GetHeap

(

)

The internal heap.

Note

Most things can be accomplished with other methods on this class instead.

See Also

PushNode

PopNode

HeapEmpty

PathNode GetPathNode

(

int

nodeIndex

)

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.

bool HeapEmpty

(

)

True if the heap is empty.

void InitializeForPath

(

Path

p

)

void InitializeNode

(

GraphNode

node

)

Internal method to initialize node data.

PathNode PopNode

(

)

Pop the node with the lowest F score from the heap.

void PushNode

(

PathNode

node

)

Push a node to the heap.

void RebuildHeap

(

)

Rebuild the heap to account for changed node values.

Some path types change the target for the H score in the middle of the path calculation, that requires rebuilding the heap to keep it correctly sorted.

Member Data Documentation

Stack<PathNode[]> bucketCache = new Stack<PathNode[]>()

private

bool [] bucketCreated = new bool[0]

private

const int BucketIndexMask = (1 << BucketSizeLog2)-1

private

bool [] bucketNew = new bool[0]

private

const int BucketSize = 1 << BucketSizeLog2

private

Real bucket size.

const int BucketSizeLog2 = 10

private

Log2 size of buckets.

So 10 yields a real bucket size of 1024. Be careful with large values.

readonly 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

int filledBuckets

private

BinaryHeapM heap = new BinaryHeapM(128)

private

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

See Also

https://en.wikipedia.org/wiki/A*_search_algorithm

PathNode [][] nodes = new PathNode[0][]

Array of buckets containing PathNodes.

ushort pathID

private

Current PathID.

See Also

PathID

readonly int threadID

readonly int totalThreadCount

Property Documentation

ushort PathID

get

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

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The documentation for this class was generated from the following file:

• /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Core/PathHandler.cs