@@ -0,0 +1,1734 @@
+package adk.sample.astar.util;%0A%0Aimport adk.team.util.RouteSearcher;%0Aimport adk.team.util.graph.RouteGraph;%0Aimport adk.team.util.graph.RouteManager;%0Aimport adk.team.util.graph.RouteNode;%0Aimport adk.team.util.provider.WorldProvider;%0Aimport com.google.common.collect.Lists;%0Aimport rescuecore2.standard.entities.StandardWorldModel;%0Aimport rescuecore2.worldmodel.EntityID;%0A%0Aimport java.util.List;%0A%0Apublic class AStarRouteSearcher implements RouteSearcher %7B%0A%0A    private WorldProvider provider;%0A    private RouteManager routeManager;%0A%0A    public AStarRouteSearcher(WorldProvider worldProvider) %7B%0A        this.provider = worldProvider;%0A        this.routeManager = new RouteManager(worldProvider.getWorld());%0A    %7D%0A%0A    @Override%0A    public List%3CEntityID%3E getPath(int time, EntityID from, EntityID to) %7B%0A        StandardWorldModel world = this.provider.getWorld();%0A        RouteGraph graph = this.routeManager.getPassableGraph();%0A        if(from.getValue() == to.getValue()) %7B%0A            return Lists.newArrayList(from);%0A        %7D%0A        if(!graph.createPositionNode(world, from) %7C%7C !graph.createPositionNode(world, to)) %7B%0A            return null;%0A        %7D%0A        RouteNode start = graph.getNode(from);%0A        if(start.isSingleNode()) %7B%0A            return Lists.newArrayList(from);%0A        %7D%0A        RouteNode goal = graph.getNode(to);%0A        if(goal.isSingleNode()) %7B%0A            return null;%0A        %7D%0A        List%3CRouteNode%3E nodePath = Lists.newArrayList(start);%0A        ///%0A        //%E3%82%B3%E3%83%B3%E3%83%91%E3%83%AC%E3%83%BC%E3%82%BF%E3%81%84%E3%82%8B%E3%81%8B%E3%82%82(%E7%9B%B4%E7%B7%9A%E8%B7%9D%E9%9B%A2%E3%81%AE%E6%AF%94%E8%BC%83) distance(goal, start.getNeighbourss()) %3E sort%0A        ///%0A        nodePath.add(goal);%0A        return graph.getPath(nodePath);%0A    %7D%0A%0A    @Override%0A    public List%3CEntityID%3E noTargetMove(int time) %7B%0A        return null;%0A    %7D%0A%0A%7D%0A

update RouteGraph