/// <summary>
/// Computes the path from => to.
/// </summary>
/// <param name="from">Start node.</param>
/// <param name="to">end node.</param>
/// <returns>Path from start to end.</returns>
public static List <Node> Compute(Node from, Node to)
{
var done = new List <Node>();
// A priority queue that will sort our nodes based on the total cost estimate
var open = new PriorityQueue <Node>();
foreach (var node in from.ConnectedNodes)
{
// Add connecting nodes if traversable
if (node.Traversable)
{
// Calculate the Costs
node.CurrentCost = from.CurrentCost + from.DistanceTo(node) * node.TraversalCostMultiplier;
node.EstimatedCost = from.CurrentCost + node.DistanceTo(to);
// Enqueue
open.Enqueue(node);
}
}
while (true)
{
// End Condition( Path not found )
if (open.Count == 0)
{
ResetNodes(done);
ResetNodes(open.GetData());
return(new List <Node>());
}
// Selecting next Element from queue
var current = open.Dequeue();
// Add it to the done list
done.Add(current);
current.State = NodeState.CLOSED;
// EndCondition( Path was found )
if (current == to)
{
var ret = GeneratePath(to); // Create the Path
// Reset all Nodes that were used.
ResetNodes(done);
ResetNodes(open.GetData());
return(ret);
}
else
{
AddOrUpdateConnected(current, to, open);
}
}
}
private static void AddOrUpdateConnected(Node current, Node to, PriorityQueue <Node> queue)
{
foreach (var connected in current.ConnectedNodes)
{
if (!connected.Traversable ||
connected.State == NodeState.CLOSED)
{
continue; // Do ignore already checked and not traversable nodes.
}
// Adds a previously not "seen" node into the Queue
if (connected.State == NodeState.UNCONSIDERED)
{
connected.Parent = current;
connected.CurrentCost = current.CurrentCost + current.DistanceTo(connected) * connected.TraversalCostMultiplier;
connected.EstimatedCost = connected.CurrentCost + connected.DistanceTo(to);
connected.State = NodeState.OPEN;
queue.Enqueue(connected);
}
else if (current != connected)
{
// Updating the cost of the node if the current way is cheaper than the previous
var newCCost = current.CurrentCost + current.DistanceTo(connected);
var newTCost = newCCost + current.EstimatedCost;
if (newTCost < connected.TotalCost)
{
connected.Parent = current;
connected.CurrentCost = newCCost;
}
}
else
{
// Codacy made me do it.
throw new PathfindingException("Detected the same node twice. Confusion how this could ever happen");
}
}
}