private void BuildNodes(List<GraphNode> node_list)
{
NodeA = new GraphNode() { Name = "A", X = -19, Y = 11, Connections = new Connection[2] };
NodeB = new GraphNode() { Name = "B", X = -13, Y = 13, Connections = new Connection[2] };
NodeC = new GraphNode() { Name = "C", X = 4, Y = 14, Connections = new Connection[3] };
NodeD = new GraphNode() { Name = "D", X = -4, Y = 12, Connections = new Connection[3] };
NodeE = new GraphNode() { Name = "E", X = -8, Y = 3, Connections = new Connection[7] };
NodeF = new GraphNode() { Name = "F", X = -18, Y = 1, Connections = new Connection[2] };
NodeG = new GraphNode() { Name = "G", X = -12, Y = -8, Connections = new Connection[3] };
NodeH = new GraphNode() { Name = "H", X = 12, Y = -9, Connections = new Connection[3] };
NodeI = new GraphNode() { Name = "I", X = -18, Y = -11, Connections = new Connection[2] };
NodeJ = new GraphNode() { Name = "J", X = -4, Y = -11, Connections = new Connection[5] };
NodeK = new GraphNode() { Name = "K", X = -12, Y = -14, Connections = new Connection[3] };
NodeL = new GraphNode() { Name = "L", X = 2, Y = -18, Connections = new Connection[3] };
NodeM = new GraphNode() { Name = "M", X = 18, Y = -13, Connections = new Connection[3] };
NodeN = new GraphNode() { Name = "N", X = 4, Y = -9, Connections = new Connection[3] };
NodeO = new GraphNode() { Name = "O", X = 22, Y = 11, Connections = new Connection[2] };
NodeP = new GraphNode() { Name = "P", X = 18, Y = 3, Connections = new Connection[4] };
node_list.Add(NodeA);
node_list.Add(NodeB);
node_list.Add(NodeC);
node_list.Add(NodeD);
node_list.Add(NodeE);
node_list.Add(NodeF);
node_list.Add(NodeG);
node_list.Add(NodeH);
node_list.Add(NodeI);
node_list.Add(NodeJ);
node_list.Add(NodeK);
node_list.Add(NodeL);
node_list.Add(NodeM);
node_list.Add(NodeN);
node_list.Add(NodeO);
node_list.Add(NodeP);
}
private double CalculateDistance(GraphNode start, GraphNode target)
{
return Math.Sqrt(Math.Pow(target.X - start.X, 2) + Math.Pow(target.Y - start.Y, 2));
}
private void AddToCloseList(GraphNode node)
{
CloseList.Add(node);
}
private void RemoveFromOpenList(GraphNode node)
{
OpenList.Remove(node);
}
private void ProcessNode(GraphNode current_node, GraphNode from_node)
{
current_node.CostSoFar += CalculateDistance(Start, current_node);
current_node.Heuristic = CalculateDistance(current_node, Goal);
current_node.CameFrom = from_node;
OpenList.Add(current_node);
}
private void ProcessConnections(GraphNode current_node)
{
foreach (Connection connection in current_node.Connections)
{
if (InList(connection.Target, OpenList) || InList(connection.Target, CloseList))
{
double temp_csf = connection.Target.CostSoFar + CalculateDistance(current_node, connection.Target);
if (temp_csf < connection.Target.CostSoFar)
{
ProcessNode(connection.Target, current_node);
}
}
else
ProcessNode(connection.Target, current_node);
}
}
private bool InList(GraphNode looking_for, List<GraphNode> list)
{
foreach (GraphNode node in list)
if (node == looking_for)
return true;
return false;
}