public List <Node> FindNeighbours(Node currentNode)
{
if (!IsInitialized || AllNodes.Length == 0 || !currentNode.IsInitialized)
{
throw new Exception("Is not initialized");
}
if (currentNode.IsUnavailable ?? false)
{
throw new Exception("currentNode is Unavailable");
}
var actualNeighbours = new ConcurrentBag <Node>();
currentNode.NeighboursIndexes(SizeX, SizeY).AsParallel().ForAll(p => {
try {
var node = AllNodes.GetValue(p.X, p.Y) as Node;
if (node == null)
{
return;
}
if (node.IsInitialized && !(node.IsUnavailable ?? false))
{
actualNeighbours.Add(node);
}
} catch (Exception e) {
Console.Write(e);
}
});
currentNode.SetNeighbours(actualNeighbours.OrderBy(x => x.Id).ToList(), this);
return(currentNode.Neighbours);
}
public void SetObstacles(NodePosition[] obstacalesPostions)
{
obstacalesPostions.AsParallel().ForAll(x => {
try {
var node = AllNodes.GetValue(x.X, x.Y) as Node;
if (node == null)
{
return;
}
node.IsUnavailable = true;
AllNodes.SetValue(node, x.X, x.Y);
} catch (Exception e) {
Console.WriteLine(e);
}
});
}
public List <Node> FindPath(NodePosition start, NodePosition end)
{
if (!IsInitialized)
{
throw new Exception("First you need to Initialize the grid.");
}
try {
var startNode = AllNodes.GetValue(start.X, start.Y) as Node;
var endNode = AllNodes.GetValue(end.X, end.Y) as Node;
return(FindPath(startNode, endNode));
} catch (IndexOutOfRangeException error) {
Console.WriteLine(error);
throw;
} catch (Exception ex) {
Console.WriteLine(ex);
throw;
}
}