HI,
nice to see someone is reading this :-D
Sure you can modify the map. But since this is meant to be used with threads, modifing the map while a thread is actally calculating a solution may result in broken references and thefore may chrash the application.
For this reason i intruduced modfields. Static modfields will be cached, they can still be modified, but to take effect the cache must be cleared manually. Dynamic modfields will take effect immediately, this may have some weired effects when changed during a calculation, but this algorythm isnt meant to be run-once-perfect-solution anyway.
For dynamic obstacles i would use a dynamic boolean modfield and mark blocked fields unpathable with false.
Currently i'm searching for a good method to automaticly track objects and block fields. This is basicly not that hard but how can i get all points which are blocked from a 3d transformed area in a perfomant matter.