public bool Compute(int originX, int originY, int destX, int destY)
{
OriginX = originX;
OriginY = originY;
DestinationX = destX;
DestinationY = destY;
Nodes.Clear();
OpenList.Clear();
if (originX == destX && originY == destY)
{
return(true);
}
var originOutsideMap = !IsValid(OriginX, OriginY);
var destOutsideMap = !IsValid(DestinationX, DestinationY);
if (originOutsideMap || destOutsideMap)
{
return(false);
}
if (!Map.Tiles[OriginX, OriginY].Walkable || !Map.Tiles[DestinationX, DestinationY].Walkable)
{
return(false);
}
InitializeGrid(ClosedList, false, Width, Height);
InitializeCellDetails();
OpenList.Add(new NodeScore(0, new Point(OriginX, OriginY)));
while (OpenList.Count != 0)
{
var nodeScore = OpenList[0];
OpenList.RemoveAt(0);
var x = nodeScore.Location.X;
var y = nodeScore.Location.Y;
ClosedList[x, y] = true;
if (ProcessCell(x, y, NorthEast, DiagonalCost))
{
break;
}
if (ProcessCell(x, y, North, 1))
{
break;
}
if (ProcessCell(x, y, NorthWest, DiagonalCost))
{
break;
}
if (ProcessCell(x, y, East, 1))
{
break;
}
if (ProcessCell(x, y, West, 1))
{
break;
}
if (ProcessCell(x, y, SouthEast, DiagonalCost))
{
break;
}
if (ProcessCell(x, y, South, 1))
{
break;
}
if (ProcessCell(x, y, SouthWest, DiagonalCost))
{
break;
}
}
return(true);
}
