public IEnumerable <T> Solve(T start, T end)
{
using (openSet = PriorityQueueCache <float, AStarNode <T> > .GetQueue())
{
AStarNode <T> startNode = new AStarNode <T>(start, 0f, GetHScore(start, end), null);
nodes[start] = startNode;
TryOpenNode(start);
while (openSet.Count != 0)
{
var current = openSet.Dequeue().value;
if (current.node == end)
{
return(TracePath(current));
}
TryCloseNode(current.node);
foreach (var adjacent in GetAdjacent(current.node))
{
UpdateGScore(adjacent, current.node, end);
TryOpenNode(adjacent);
}
}
return(TracePath(bestResultSoFar.bestAStarNode));
}
}
public void Dispose()
{
Clear();
PriorityQueueCache <T, U> .AddQueue(this);
}