private List<Point> findFinalPath(SearchNode startNode, SearchNode endNode)
{
closedList.Add(endNode);
SearchNode parentNode = endNode.Parent;
while (parentNode != startNode)
{
closedList.Add(parentNode);
parentNode = parentNode.Parent;
}
List<Point> finalPath = new List<Point>();
for (int i = closedList.Count - 1; i >= 0; --i)
{
finalPath.Add(closedList[i].Position);
}
return finalPath;
}
public void InitializeSearchNodes(TileLayer layer)
{
searchNodes = new SearchNode[levelWidth, levelHeight];
for (int x = 0; x < levelWidth; ++x)
{
for (int y = 0; y < levelHeight; ++y)
{
SearchNode node = new SearchNode();
node.Position = new Point(x, y);
node.Passable = layer.IsPassable(x, y);
if (node.Passable)
{
node.Neighbors = new SearchNode[4];
searchNodes[x, y] = node;
}
}
}
for (int x = 0; x < levelWidth; ++x)
{
for (int y = 0; y < levelHeight; ++y)
{
SearchNode node = searchNodes[x, y];
if (node == null || !node.Passable)
continue;
Point[] neighbors = new Point[]
{
new Point(x, y - 1),
new Point(x, y + 1),
new Point(x - 1, y),
new Point(x + 1, y)
};
for (int i = 0; i < neighbors.Length; ++i)
{
Point position = neighbors[i];
if (position.X < 0 || position.X >= levelWidth || position.Y < 0 || position.Y >= levelHeight)
continue;
SearchNode neighbor = searchNodes[position.X, position.Y];
if (neighbor == null || !neighbor.Passable)
continue;
node.Neighbors[i] = neighbor;
}
}
}
}