private void PrintPath(Node dest)
{
if (dest.Previous != null)
{
PrintPath(dest.Previous);
Console.Write(" to ");
}
Console.WriteLine(dest.ToString());
}
public Edge(Node n, double c)
{
this.destination = n;
this.cost = c;
}
/// <summary>
/// This function will return a node from the nodeMap/dictonary. It will also create a node if you are trying
/// to get a node which does not exist. This will prevent the graph from throwing NullReferenceExceptions
/// </summary>
/// <param name="position"></param>
/// <param name="create"></param>
/// <returns></returns>
private Node GetNode(Vector2D position, bool create = false)
{
//Get node at the given position
Node nodeAtPosition = this.nodeMap.Where(r => r.Key.x == position.x && r.Key.y == position.y).FirstOrDefault().Value;
if (nodeAtPosition != null)
return nodeAtPosition;
//Are we allowed to create the node if it doesn't exist
if (!create)
return null;
//Create a new node and add it to nodeMap.
Node node = new Node(position);
this.nodeMap.Add(position, node);
return node;
}
