public SolarSystemNode(int systemId, Vector2 position, double cost, double pathCost, SolarSystemConnectionData[] connectedTo, SolarSystemNode parent)
{
SystemId = systemId;
Position = position;
Cost = cost;
PathCost = pathCost;
ConnectTo = connectedTo;
_parent = parent;
}
private PathInfo FindPathReversed(int start, int end)
{
_startNode = new SolarSystemNode(start, new Vector2((float)_solarSystems[start].X, (float)_solarSystems[start].Y), 0, 0, _solarSystems[start].ConnectedTo, null);
HeapPriorityQueue <SolarSystemNode> openList = new HeapPriorityQueue <SolarSystemNode>(Size);
openList.Enqueue(_startNode, 0);
bool[] brWorld = new bool[Size];
brWorld[start] = true;
//Vector2 endPosition = new Vector2((float)_solarSystems[end].X, (float)_solarSystems[end].Y);
while (openList.Count != 0)
{
SolarSystemNode current = openList.Dequeue();
if (current.SystemId == end)
{
return(GetPathInfo(current));
}
//return new SolarSystemNode(end, endPosition, current.PathCost + 1, current.Cost + 1, _solarSystems[end].ConnectedTo, current);
SolarSystemConnectionData[] surrounding = _solarSystems[current.SystemId].ConnectedTo;
if (surrounding != null)
{
foreach (var surroundingSystem in surrounding)
{
var tempId = surroundingSystem.ToSystemId;
var tmp = new Vector2((float)_solarSystems[tempId].X, (float)_solarSystems[tempId].Y);
var brWorldIdx = tempId;
if (!PositionIsFree(brWorldIdx) || brWorld[brWorldIdx])
{
continue;
}
brWorld[brWorldIdx] = true;
var pathCost = current.PathCost;
var cost = pathCost + 1;
var node = new SolarSystemNode(tempId, tmp, cost, pathCost, _solarSystems[tempId].ConnectedTo, current);
openList.Enqueue(node, cost);
}
}
else if (openList.Count == 0)
{
return(GetEmptyPath(_startNode.SystemId));
}
}
return(GetEmptyPath(_startNode.SystemId)); //no path found
}
private PathInfo GetPathInfo(SolarSystemNode endNode)
{
var tempInfo = new PathInfo();
var tempNode = endNode;
var pathSystems = new List <int>();
var i = 0;
while (tempNode.HasParent)
{
pathSystems.Add(tempNode.SystemId);
tempNode = tempNode.Parent;
i++;
}
i++;
var jumpCount = i;
var pathIDs = new int[jumpCount + 1];
i = 0;
foreach (var tempId in pathSystems)
{
pathIDs[i] = tempId;
i++;
}
i++;
pathIDs[i] = _startNode.SystemId;
tempInfo.PathSystems = pathIDs;
tempInfo.TotalJumps = jumpCount;
return(tempInfo);
}