///
//Inititialize new nodes and construct them accordingly.;
//Remember that field[X,Y] are bonded with the For-loop X & Y order (In this case: "field[y,x]").
///
Node[,] ConstructNodes(int width, int height, Node[,] field, int[,] layout)
{
Node[,] result = field;
int i = 0;
for (int y = 0; y < height; y++)
{
for (int x = 0; x < width; x++)
{
Node temp = field[y, x];
temp.x = x;
temp.y = y;
temp.layoutID = layout[y, x];
temp.id = i;
if (temp.layoutID == 2)
{
startX = x;
startY = y;
}
else if (temp.layoutID == 3)
{
endX = x;
endY = y;
}
result[y, x] = temp;
i++;
}
}
return result;
}
Node GetCheapestAdjacent(Node newParent)
{
Node parent = newParent;
List<Node> parentList = new List<Node>();
int cycle = 0;
while (cycle < 2)
{
for (int y = 0; y < height; y++)
for (int x = 0; x < width; x++)
{
Node temp = field[y, x];
//Detecting/scanning all the adjecent nodes and then picking the one with the lowest cost.
circleArr[0] = (parent.x == (temp.x) && parent.y == (temp.y - 1)); //Upper
circleArr[1] = (parent.x == (temp.x + 1) && parent.y == (temp.y - 1)); //Upper-Right
circleArr[2] = (parent.x == (temp.x + 1) && parent.y == (temp.y)); //Right
circleArr[3] = (parent.x == (temp.x + 1) && parent.y == (temp.y + 1)); //Bottom-Right
circleArr[4] = (parent.x == (temp.x) && parent.y == (temp.y + 1)); //Bottom
circleArr[5] = (parent.x == (temp.x - 1) && parent.y == (temp.y + 1)); //Bottom-Left
circleArr[6] = (parent.x == (temp.x - 1) && parent.y == (temp.y)); //Left
circleArr[7] = (parent.x == (temp.x - 1) && parent.y == (temp.y - 1)); //Upper-Left
//First cycle
if (cycle < 1)
{
//Looping through the "circle" to detect a present match.
for (int c = 0; c < circleArr.Length; c++)
if (circleArr[c] == true)
//As long as the layoutID is not a wall(1), the starting point(2) or an already foudn node(5), continue
if (temp.layoutID != 1 && temp.layoutID != 2 && temp.layoutID != 5)
{
//Assigning new IDs to searched Nodes
if (temp.layoutID != 3)
temp.layoutID = 4;
//Calculating movement cost(s)
if (c % 2 == 0)
temp.g += 10;
else
temp.g += 14;
//Setting total cost to move
temp.f = temp.g + temp.h;
//Adding to parent list for second loop
parentList.Add(temp);
}
}
else
{
//Sort the list so that the lowest node will be at the top.
parentList.Sort((Node a, Node b) => (a.f).CompareTo(b.f));
//Looping through the "circle" to detect a present match.
for (int c = 0; c < circleArr.Length; c++)
if (circleArr[c] == true)
if (temp.f == parentList[0].f)
{
//Get the node and set it as the new parent after setting the old parent as its parent,
temp.parent = parent.layoutID;
openList.Remove(parent);
closedList.Add(parent);
parent = temp;
//also add it to the openlist after the old parent had been dropped and added to the closed list.
openList.Add(parent);
//Resetting the loops.
x = width - 1;
y = height - 1;
}
}
field[y, x] = temp;
InitiateSolvedVisualizing();
}
cycle++;
}
return parent;
}
