public dribbelaerPath getPath(int X, int Y, int goalX, int goalY)
{
if (X == goalX && Y == goalY)
return null;
int maxCycles = (maxX * maxY) ^ 2;
int Cycles = 0;
dribbelaerPath Path = new dribbelaerPath();
this.Goal = new mapNode(goalX, goalY, 0, null, null, null);
this.Start = new mapNode(X, Y, 0, null, Goal, null);
Goal.Start = Goal;
Start.Start = Start;
Open.Add(Start);
while (Open.Count > 0)
{
if (Cycles >= maxCycles)
return null;
else
Cycles++;
mapNode Current = (mapNode)Open.Pop();
if (Current.X == Goal.X && Current.Y == Goal.Y)
{
while (Current != null)
{
Path.Coords.Push(new Coord(Current.X, Current.Y));
Current = Current.Parent;
}
break;
}
else
{
foreach (mapNode Successor in Current.Successors(this))
{
mapNode openNode = null;
if (Open.Contains(Successor))
{
openNode = (mapNode)Open[Open.IndexOf(Successor)];
if (Successor.totalCost > openNode.totalCost)
continue;
}
mapNode closedNode = null;
if (Closed.Contains(Successor))
{
closedNode = (mapNode)Closed[Closed.IndexOf(Successor)];
if (Successor.totalCost > closedNode.totalCost)
continue;
}
Open.Remove(Successor);
Closed.Remove(Successor);
Open.Push(Successor);
}
Closed.Add(Current);
}
}
if (Path.Coords.Count == 0)
return null;
else
return Path;
}
public dribbelaerPath getPath(int X, int Y, int goalX, int goalY)
{
if (X == goalX && Y == goalY)
{
return(null);
}
int maxCycles = (maxX * maxY) ^ 2;
int Cycles = 0;
dribbelaerPath Path = new dribbelaerPath();
this.Goal = new mapNode(goalX, goalY, 0, null, null, null);
this.Start = new mapNode(X, Y, 0, null, Goal, null);
Goal.Start = Goal;
Start.Start = Start;
Open.Add(Start);
while (Open.Count > 0)
{
if (Cycles >= maxCycles)
{
return(null);
}
else
{
Cycles++;
}
mapNode Current = (mapNode)Open.Pop();
if (Current.X == Goal.X && Current.Y == Goal.Y)
{
while (Current != null)
{
Path.Coords.Push(new Coord(Current.X, Current.Y));
Current = Current.Parent;
}
break;
}
else
{
foreach (mapNode Successor in Current.Successors(this))
{
mapNode openNode = null;
if (Open.Contains(Successor))
{
openNode = (mapNode)Open[Open.IndexOf(Successor)];
if (Successor.totalCost > openNode.totalCost)
{
continue;
}
}
mapNode closedNode = null;
if (Closed.Contains(Successor))
{
closedNode = (mapNode)Closed[Closed.IndexOf(Successor)];
if (Successor.totalCost > closedNode.totalCost)
{
continue;
}
}
Open.Remove(Successor);
Closed.Remove(Successor);
Open.Push(Successor);
}
Closed.Add(Current);
}
}
if (Path.Coords.Count == 0)
{
return(null);
}
else
{
return(Path);
}
}
