/// <summary>
/// Adds the RRA* algorithm nodes.
/// </summary>
/// <param name="path">The path.</param>
/// <param name="StartNode">The start node.</param>
public void addPath(Path path, int StartNode)
{
var currentNode = StartNode;
var firstAddedNode = true;
//go through all hops
while (Closed.Contains(currentNode) && currentNode != this.StartNode)
{ //rraStar StartNode = GoalNode of the Agent
//get all the nodes to the next hop
var nextHop = NextsNodesUntilTurn(currentNode);
for (int i = 0; i < nextHop.Count; i++)
{
//add node
path.AddLast(nextHop[i], i == nextHop.Count - 1, 0);
//the first node (n) is the connection node. Sometimes a stop at (n - 1) is not necessary
if (firstAddedNode && path.Count >= 3)
{
firstAddedNode = false;
path.DeleteStopIfPossible(_graph, path.Count - 2);
}
}
currentNode = nextHop[nextHop.Count - 1];
}
return;
}
public List <SpriteByte> RemainingBytes()
{
return(DATASET
.Where(x => !Closed.Contains(x.Offset))
.ToList());
}