override public bool FindPath(Node startNode, Node goalNode, PathFinding_Heuristics heursiticFunction, ref Dictionary <Node, Node_Data> nodeData, int maxGridSize)
{
BinaryHeap <Node_Data> openSet = new BinaryHeap <Node_Data>(maxGridSize);
nodeData[startNode] = new Node_Data(startNode);
openSet.Add(nodeData[startNode]);
Node curNode;
do
{
curNode = openSet.RemoveFirst().node;
nodeData[curNode].inClosedSet = true;
nodeData[curNode].inOpenSet = false;
foreach (Node node in curNode.adjacentNodes)
{
if (!nodeData.ContainsKey(node))
{
nodeData[node] = new Node_Data(node);
}
if (!nodeData[node].inClosedSet)
{
nodeData[node].parentNode = curNode;
if (!nodeData[node].inOpenSet)
{
nodeData[node].inOpenSet = true;
nodeData[node].hCost = heursiticFunction.GetHCost(node, goalNode);
openSet.Add(nodeData[node]);
}
}
}
if (openSet.Count == 0)
{
break;
}
} while (curNode != goalNode);
return((curNode == goalNode) ? true : false);
}
override public bool FindPath(Node startNode, Node goalNode, PathFinding_Heuristics heursiticFunction, ref Dictionary <Node, Node_Data> nodeData, int maxGridSize)
{
bool pathFound = false;
Queue nodeQueue = new Queue();
nodeQueue.Enqueue(startNode);
while (nodeQueue.Count > 0)
{
Node curNode = (Node)nodeQueue.Dequeue();
if (curNode == goalNode)
{
pathFound = true;
break;
}
foreach (Node node in curNode.adjacentNodes)
{
if (!nodeData.ContainsKey(node))
{
nodeData[node] = new Node_Data(node);
}
Node parent = nodeData[node].parentNode;
if (parent == null && node != startNode)
{
nodeData[node].parentNode = curNode;
nodeQueue.Enqueue(node);
}
}
}
return(pathFound);
}
