protected List <List <int> > GetShortestPath(List <int> start, List <int> end)
{
if (start == null)
{
throw new ArgumentNullException(nameof(start));
}
if (end == null)
{
throw new ArgumentNullException(nameof(end));
}
var shortestPath = new List <List <int> >();
var node = DoneNodes.FirstOrDefault(nodeEl => nodeEl.Position.SequenceEqual(end));
while (node != null && !node.Position.SequenceEqual(start))
{
shortestPath.Add(node.Position);
node = node.Parent;
}
if (node == null)
{
return(null);
}
shortestPath.Add(node.Position);
return(shortestPath);
}
protected Node GetMinimalCostNode()
{
var min = Nodes.First();
foreach (var node in Nodes.Where(node => (node.Cost + node.Heuristic) < min.Cost + min.Heuristic))
{
min = node;
}
Nodes.Remove(min);
DoneNodes.Add(min);
return(min);
}