starlite

A 3D path-finding implementation in java, based on D* Lite

D* Lite

D* Lite is a fast pathfinding algorithm designed by Sven Koenig and Maxim Likhachev, see their white paper. It was implemented in java as a 2D solution by Daniel Beard.

Starlite

Starlite is a 3D implementation of Daniel Beard's 2D implementation.

Documentation

Javadoc comments are included in the source code

Example

CellSpace space = new CellSpace();
space.setGoalCell(1, 1, -1);
space.setStartCell(10, 7, 7);

CostBlockManager blockManager = new CostBlockManager(space);
blockManager.blockCell(space.makeNewCell(6, 6, 3));
blockManager.blockCell(space.makeNewCell(6, 5, 4));

Pathfinder pathfinder = new Pathfinder(blockManager);

Path path = pathfinder.findPath();

License

Daniel Beard included the MIT licence in his source code. As part of the re-write, that license has been placed in a separate file at the root of this repository.