//given a node index and two lists that COULD contain it, return the node from ONE of them
private static Node GetNodeFromLists(NodeIndex nIndex, List <Node> list1, List <Node> list2)
{
if (nIndex == null)
{
return(null);
}
if (list1 == null && list2 == null)
{
return(null);
}
if (list1.Count > 0 && nIndex.GetParentIndex() == list1[0].index.GetParentIndex())
{
if (list1.Count <= nIndex.GetLowestIndex())
{
return(null);
}
return(list1[nIndex.GetLowestIndex()]);
}
if (list2.Count > 0 && nIndex.GetParentIndex() == list2[0].index.GetParentIndex())
{
if (list2.Count <= nIndex.GetLowestIndex())
{
return(null);
}
return(list2[nIndex.GetLowestIndex()]);
}
return(null);
}
//return the list of nodes that the path consists of
private static List <NodeIndex> RetracePath(Node destNode, List <Node> finalNodeList)
{
List <NodeIndex> finalPath = new List <NodeIndex>();
NodeIndex index = destNode.index;
finalPath.Add(index);
index = destNode.previousNode;
if (index == null)
{
return(finalPath);
}
while (finalNodeList[index.GetLowestIndex()].previousNode != null)
{
finalPath.Add(index);
finalNodeList[index.GetLowestIndex()].accumulatedCost = 0;
index = finalNodeList[index.GetLowestIndex()].previousNode;
}
finalNodeList[index.GetLowestIndex()].accumulatedCost = 0;
finalPath.Add(index);
finalPath.Reverse();
return(finalPath);
}