public IPathGraph <TKey, TNode> Find(
IPathMaker <TKey, TNode> pathMaker,
TKey startKey,
Func <TNode, bool> pathingBlocked,
IGraph <TKey> graph
)
{
var explored = pathMaker.GetGraph();
var currentNode = pathMaker.MakeNode(startKey, null);
var frontier = new PriorityList <float, TNode>();
while (currentNode != null)
{
explored.Add(currentNode);
var surroundingNodes = GetSurroundingNodes(graph, currentNode, explored);
if (surroundingNodes != null)
{
ExploreSurroundingNodes(pathingBlocked, currentNode, frontier, surroundingNodes, pathMaker, explored);
}
if (frontier.Count == 0)
{
currentNode = null;
break;
}
currentNode = frontier[frontier.Count - 1];
frontier.RemoveAt(frontier.Count - 1);
}
return(explored);
}
public Traveler(string currentZoneName, World world, IWalker walker)
{
Walker = walker;
Walker.IsStuck += WalkerOnIsStuck;
Walker.PropertyChanged += WalkerOnPropertyChanged;
World = world;
CurrentZone = world.GetZoneByName(currentZoneName);
// Position = walker.CurrentPosition;
CurrentZone.Map.AddKnownNode(walker.CurrentPosition);
PathMaker = new GridPathMaker
{
ZoneMap = CurrentZone.Map
};
}
private void ExploreSurroundingNodes(
Func <TNode, bool> pathingBlocked,
TNode currentNode,
PriorityList <float, TNode> frontier,
IEnumerable <TKey> surroundingNodes,
IPathMaker <TKey, TNode> pathMaker,
IPathGraph <TKey, TNode> explored)
{
foreach (TKey key in surroundingNodes)
{
TNode newNode = pathMaker.MakeNode(key, currentNode);
if (pathingBlocked(newNode))
{
continue;
}
AddNodeToFrontier(explored, newNode, frontier);
}
}
