public List <Node> AStar()
{
// Pop off lowest F
int? min = OpenList.Min(n => n.F);
Node current = OpenList.Where(n => n.F == min).First();
OpenList.Remove(current);
// Check for goal
if (current.Equals(Goal))
{
ClosedList.Push(current);
return(ClosedList.Reverse().ToList());
}
else
{
//possibleMoves = GetPassibleNodes(current);
OpenList = GetPassibleNodes(current);
List <Node> toRemove = new List <Node>();
OpenList.ForEach(n =>
{
if (ClosedList.Contains(n))
{
toRemove.Add(n);
}
else
{
GetF(n);
}
});
toRemove.ForEach(n => OpenList.Remove(n));
//possibleMoves.ForEach(n =>
//{
// if (!ClosedList.Contains(n)) // Dont move to an already visited Node
// {
// GetF(n);
// if (!OpenList.Contains(n))
// {
// n.Parent = current;
// OpenList.Add(n);
// }
// }
//});
}
ClosedList.Push(current);
return(null);
}
