/// <summary>
/// Returns any nodes that are adjacent to <paramref name="fromNode"/> and may be considered to form the next step in the path
/// </summary>
/// <param name="fromNode">The node from which to return the next possible nodes in the path</param>
/// <returns>A list of next possible nodes in the path</returns>
private List <Node> GetAdjacentWalkableNodes(Node fromNode)
{
var walkableNodes = new List <Node>();
var nextLocations = GetAdjacentLocations(fromNode.Location);
foreach (var location in nextLocations)
{
var x = location.X;
var y = location.Y;
// Stay within the grid's boundaries
if (x < 0 || x >= _map.GetLength(0) || y < 0 || y >= _map.GetLength(1))
{
continue;
}
var node = _map[x, y];
// Ignore non-walkable nodes
if (!node.IsWalkable)
{
continue;
}
// Ignore already-closed nodes
if (node.State == NodeState.Closed)
{
continue;
}
// Already-open nodes are only added to the list if their G-value is lower going via this route.
if (node.State == NodeState.Open)
{
var traversalCost = Node.GetTraversalCost(node.Location, node.ParentNode.Location);
var gTemp = fromNode.G + traversalCost;
if (gTemp < node.G)
{
node.ParentNode = fromNode;
walkableNodes.Add(node);
}
}
else
{
// If it's untested, set the parent and flag it as 'Open' for consideration
node.ParentNode = fromNode;
node.State = NodeState.Open;
_testedPoints.Add(node.Location);
walkableNodes.Add(node);
}
}
return(walkableNodes);
}
/// <summary>
/// Returns any nodes that are adjacent to <paramref name="fromNode"/> and may be considered to form the next step in the path
/// </summary>
/// <param name="fromNode">The node from which to return the next possible nodes in the path</param>
/// <returns>A list of next possible nodes in the path</returns>
private List <Node> GetAdjacentWalkableNodes(Node fromNode)
{
List <Node> walkableNodes = new List <Node>();
IEnumerable <Point> nextLocations = GetAdjacentLocations(fromNode.Location);
foreach (var location in nextLocations)
{
int x = location.X;
int y = location.Y;
// Stay within the grid's boundaries
if (x < 0 || x >= this.width || y < 0 || y >= this.height)
{
continue;
}
Node node = this.nodes[x, y];
// Ignore non-walkable nodes
if (!node.IsWalkable)
{
continue;
}
// Ignore already-closed nodes
if (node.State == NodeState.Closed)
{
continue;
}
// Already-open nodes are only added to the list if their G-value is lower going via this route.
if (node.State == NodeState.Open)
{
float traversalCost = Node.GetTraversalCost(node.Location, node.ParentNode.Location);
float gTemp = fromNode.G + traversalCost;
if (gTemp < node.G)
{
node.ParentNode = fromNode;
walkableNodes.Add(node);
}
}
else
{
// If it's untested, set the parent and flag it as 'Open' for consideration
node.ParentNode = fromNode;
node.State = NodeState.Open;
walkableNodes.Add(node);
}
}
return(walkableNodes);
}