/**
* Computes a path from a location to the nearest source. Contains both start and end points.
*
* @param loc The location.
* @return The path as a LocSet.
*/
public LocSet getPath(MapLocation loc) {
LocSet path = new LocSet();
path.insert(loc);
while (!sources.contains(loc)) {
loc = loc.subtract(from[loc.x][loc.y]);
path.insert(loc);
}
return path;
}
public DStar(LocSet sources, int[] distances, MapLocation dest) {
this.sources = sources;
this.dest = dest;
for (int i = sources.size; --i >= 0; ) {
MapLocation source = sources.get(i);
int e = distances[i] + heuristic(source, dest);
queue.insert(e, source);
distance[source.x][source.y] = distances[i];
// estimate[source.x][source.y] = e;
// leave as null to cause exceptions if we accidentally try to use it?
from[source.x][source.y] = Direction.NONE;
}
}