private Path BuildPathToDestination()
{
List<PathVertex> vertices = new List<PathVertex>();
if (destination != null)
{
var vertex = new PathVertex(destination, 0);
while (vertex != null)
{
vertices.Add(vertex);
vertex = P[vertex.Hex];
}
vertices.Reverse();
return new Path(vertices);
}
else
return new Path();
}
private bool Find()
{
for (int i = 0; i < map.Count - 1; i++)
{
Hex v = PriorityGetMin();
H[v] = v;
foreach (var u in v.Neighbors)
{
if (!H.ContainsKey(u))
{
if (!D.ContainsKey(u))
{
D[u] = UNDEFINED;
PriorityInsert(u, UNDEFINED);
}
var cost = GetCost(v, u);
if (D[v] + cost < D[u])
{
D[u] = D[v] + cost;
PriorityDecrease(u, D[u]);
P[u] = new PathVertex(v, cost);
}
}
}
}
return destination == null || P.ContainsKey(destination);
}