public static List <Cell> GetPath(Cell from, Cell to, Func <Cell, bool> obstacleCondition)
{
if (obstacleCondition(to))
{
return(null);
}
var fromCell = new BfsCell(null, from);
var open = new List <BfsCell> {
fromCell
};
var seen = new HashSet <Cell> {
from
};
while (open.Any())
{
var currentCell = open.First();
open.RemoveAt(0);
if (currentCell.Cell.Equals(to))
{
var list = new List <Cell>();
while (!currentCell.Cell.Equals(from))
{
list.Insert(0, currentCell.Cell);
currentCell = currentCell.Parent;
}
return(list);
}
foreach (var(_, neighbour) in currentCell.Cell.Neighbours)
{
if (seen.Add(neighbour) && !obstacleCondition(neighbour))
{
open.Add(new BfsCell(currentCell, neighbour));
}
}
}
return(null);
}
public BfsCell(BfsCell parent, Cell cell)
{
Parent = parent;
Cell = cell;
}