private List <PathNode> GetNeighbours(PathNode pathNode, Point goal, bool[,] field)
{
var result = new List <PathNode>();
var neighbourPoints = _helper.GetNeighbourPoints(pathNode.Position);
foreach (var point in neighbourPoints)
{
if (!_helper.IsPointAvailableToMove(field, point))
{
continue;
}
var neighbourNode = new PathNode
{
Position = point,
CameFrom = pathNode,
PathLengthFromStart = pathNode.PathLengthFromStart + DistanceBetweenNeighbours,
HeuristicEstimatePathLength = GetHeuristicPathLength(point, goal)
};
result.Add(neighbourNode);
}
return(result);
}
public LinkedList <Point> FindPath(bool[,] field, Point start, Point goal)
{
var neighbourPoints = _helper.GetNeighbourPoints(start);
var availablePoints = neighbourPoints.Where(point => _helper.IsPointAvailableToMove(field, point)).ToList();
var rand = new Random();
var availablePoint = availablePoints[rand.Next(0, availablePoints.Count)];
var result = new LinkedList <Point>();
result.AddFirst(availablePoint);
return(result);
}