## A* pathfinding with ds

I recently did a complete rewrite of my graph-based A* pathfinder example because I received a lot of questions on how to implement path-finding using the new ds library. So here is an updated demo that works with ds 1.32:

Interactive demo: A* pathfinding with ds

I’m transforming the point cloud with delaunay triangulation into a graph structure. Then the system computes and draws the shortest path between two selected points.

### Compile instructions

Running and examining the example is really easy:

3. Install the polygonal library by opening the command prompt and typing:
`\$ haxelib install polygonal`.
4. Sources should now be in {haxe_install_dir}/lib/polygonal/1,18/src/impl/sandbox/ds/astar, where {haxe_install_dir} is usually C:/Motion-Twin/haxe on Win7.
The demo can be then compiled with:
```\$ cd C:\Motion-Twin\haxe\lib\polygonal\1,18\build \$ haxe.exe compile-ds-examples.hxml```

### Extending the Graph class

You have basically two options to extend the functionality of the Graph object: by composition or inheritance. While I highly recommend to use composition whenever possible, I’ve also included a version using inheritance – just so you see the difference.

The composition version looks like this:

The Graph object manages GraphNode objects, and each GraphNode holds a Waypoint object, which defines the world position of the waypoint as well as intermediate data used by the A* algorithm. Notice that GraphNode and Waypoint are cross-referencing each other as a Waypoint object has to query the graph for adjacent nodes. As a result, you have a clean separation between the data structure (Graph, GraphNode) and the algorithm (AStar, Waypoint) and don’t need object casting, which is good news because casting is a rather slow operation.

Now let’s look at the version using inheritance:

Here, Waypoint directly subclasses GraphNode. Since the Graph is defined to work with GraphNode objects, we need a lot of (unsafe) down-casts to access the Waypoint class. Furthermore, the use of haxe.rtti.Generic will be very restricted or even impossible (implementing this marker interface generates unique classes for each type to avoiding dynamic).