syntax#1

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once the nodes are positioned (along a grid or
around obstacles / walls/ passages / corners), we
have to know, for each node, which others nodes it
can reach, and these will be the links.
the links can be created automatically by using a
procedure with raypicks from one node to another
node, and if the other node can be reached (not
obstructed by an obstacle / wall), a
link would be created, and have its length (from one
node to the other node) stored
each node will have its number of links +
corresponding links indexes stored
the map could have static obstacles or dynamic
obstacles (which can be moved, added, removed).
for dynamic obstacles, i have found that it is easier
to use nodes positioned along a grid, and activate /
deactivate some nodes and some links depending
on where the obstacle is (since when a node is
positioned along a grid, it is easy to do determine
which nodes / links need to be updated depending
on the moving obstacle position). but this is for
another article...
1.2
astar logic:
for the pathfinding / pathfollowing
system i propose to use these lists /
variables : (i am just going to explain the
structure / logic, i let you write the code
as you want)
bots
to store the origin of the bot (reference
of a pivot), to store the followpath state
(true or false), to store the target
(reference of a pivot)
temps
to store indexes temporarily
nodes
to store the origin of the node (reference
of a pivot), to store the active state of
each node (On or Off), the AS (ASTAR)
state of each node (Not, Discovered,
Processed), the discoveredfrom index (of
another node) from which this node has
been discovered, the reach length
(length from start node to this node, by
following a temporary path through
others nodes), the fly length (length
from this node to end node)
links
to store the count of links (to others
nodes) of this node, the active state of
each link (On or Off), the index (of
another node) linked to this node
paths
(one path for each bot)
to store the count of nodes in this path,
the indexes (of nodes) in this path, the
origin of the start node (reference of a
pivot), the origin of the end node
(reference of a pivot), the index of the
next node to target (in this path)