public bool Search_Way()
{
// Big and difficult
CountSteps = 0;
TNodeRecord RecFirst = new TNodeRecord(StartPosition);
TNode FinishNode = null;
List <TNode> Storage = new List <TNode>();
List <TNode> Maintance = new List <TNode>();
Storage.Add(new TNode(RecFirst, this, null)); // First node.
bool Check = false;
while (!Check && (Storage.Count > 0))
{
CountSteps++;
Maintance.Clear();
Maintance = Storage[0].ScanAround();
Storage.RemoveAt(0); // Clearing this point
for (int i = 0; i < Maintance.Count; i++)
{
if (Maintance[i].Position.Position == StopPosition)
{
FinishNode = Maintance[i]; // Memorize!
Check = true;
break;
}
else
{
Storage.Add(Maintance[i]);
}
}
if (Check)
{
break;
}
}
if (Check)
{
// We need to recreate path
TNode Current = FinishNode;
while (Current != null)
{
this.Way.Add(new TNodeRecord(Current.Position.Position));
Current = Current.ParentNode;
}
if (Way.Count <= 0)
{
throw new Exception("Way is almost empty.");
}
}
return(Check);
}
public List <TNode> ScanAround()
{
List <TNode> Result = new List <TNode>();
TPoint Current = this.Position.Position;
TFieldSection Self = Dijkstra.Field[Current];
TPoint ForwardRaw = Current - new TPoint(1, 0);
TPoint RightRaw = Current + new TPoint(0, 1);
TPoint BackwardRaw = Current + new TPoint(1, 0);
TPoint LeftRaw = Current - new TPoint(0, 1);
int Length = Dijkstra.Field.Length;
this.Dijkstra.Nodes.Add(this.Position);
if (ForwardRaw.isValid(Length - 1) && !Self.isBlockedRaw(Constants.Direction_Forward))
{
TPoint Copied = ForwardRaw;
TNodeRecord Rec = new TNodeRecord(Copied.X, Copied.Y);
if (!Dijkstra.Nodes.nodeExists(Rec))
{
Result.Add(new TNode(Rec, Dijkstra, this));
}
}
if (RightRaw.isValid(Length - 1) && !Self.isBlockedRaw(Constants.Direction_Right))
{
TPoint Copied = RightRaw;
TNodeRecord Rec = new TNodeRecord(Copied.X, Copied.Y);
if (!Dijkstra.Nodes.nodeExists(Rec))
{
Result.Add(new TNode(Rec, Dijkstra, this));
}
}
if (BackwardRaw.isValid(Length - 1) && !Self.isBlockedRaw(Constants.Direction_Backward))
{
TPoint Copied = BackwardRaw;
TNodeRecord Rec = new TNodeRecord(Copied.X, Copied.Y);
if (!Dijkstra.Nodes.nodeExists(Rec))
{
Result.Add(new TNode(Rec, Dijkstra, this));
}
}
if (LeftRaw.isValid(Length - 1) && !Self.isBlockedRaw(Constants.Direction_Left))
{
TPoint Copied = LeftRaw;
TNodeRecord Rec = new TNodeRecord(Copied.X, Copied.Y);
if (!Dijkstra.Nodes.nodeExists(Rec))
{
Result.Add(new TNode(Rec, Dijkstra, this));
}
}
return(Result);
}
public TNode(TNodeRecord Position, TDijkstra Dijkstra, TNode ParentNode)
{
this.Position = Position;
this.Dijkstra = Dijkstra;
this.ParentNode = ParentNode;
}
