/// <summary>
/// Gets the distance between two points
/// </summary>
internal static float GetTraversalCost(Point location, Point otherLocation)
{
float deltaX = otherLocation.X - location.X;
float deltaY = otherLocation.Y - location.Y;
return((float)Math.Sqrt(deltaX * deltaX + deltaY * deltaY));
}
/// <summary>
/// Creates a new instance of Node.
/// </summary>
/// <param name="x">The node's location along the X axis</param>
/// <param name="y">The node's location along the Y axis</param>
/// <param name="isWalkable">True if the node can be traversed, false if the node is a wall</param>
/// <param name="endLocation">The location of the destination node</param>
public Node(int x, int y, bool isWalkable, Point endLocation)
{
this.Location = new Point(x, y);
this.State = NodeState.Untested;
this.IsWalkable = isWalkable;
this.H = GetTraversalCost(this.Location, endLocation);
this.G = 0;
}
/// <summary>
/// Returns the eight locations immediately adjacent (orthogonally and diagonally) to <paramref name="fromLocation"/>
/// </summary>
/// <param name="fromLocation">The location from which to return all adjacent points</param>
/// <returns>The locations as an IEnumerable of Points</returns>
private static IEnumerable <Point> GetAdjacentLocations(Point fromLocation)
{
return(new Point[]
{
// new Point(fromLocation.X-1, fromLocation.Y-1),
new Point(fromLocation.X - 1, fromLocation.Y),
// new Point(fromLocation.X-1, fromLocation.Y+1),
new Point(fromLocation.X, fromLocation.Y + 1),
// new Point(fromLocation.X+1, fromLocation.Y+1),
new Point(fromLocation.X + 1, fromLocation.Y),
// new Point(fromLocation.X+1, fromLocation.Y-1),
new Point(fromLocation.X, fromLocation.Y - 1)
});
}
public SearchParameters(Point startLocation, Point endLocation, bool[,] map)
{
this.StartLocation = startLocation;
this.EndLocation = endLocation;
this.Map = map;
}
