internal override PathBuilder GetPath(Node start, Node end)
{
int operationCount = 0;
Stopwatch sp = new Stopwatch();
var qNodes = new SimplePriorityQueue <Node>();
qNodes.Enqueue(start, 0);
cameFrom[start] = start;
costSoFar[start] = 0;
sp.Start();
while (qNodes.Count > 0)
{
operationCount++;
var current = qNodes.Dequeue();
if (Animation)
{
System.Threading.Thread.Sleep(10);
PrintMap();
}
foreach (var neighbor in this.World.GetNeighbors(base.finder, current))
{
//1 it's a cost for next step
var newCost = costSoFar[current] + 1;
if (!costSoFar.ContainsKey(neighbor) ||
newCost < costSoFar[neighbor])
{
if (costSoFar.ContainsKey(neighbor))
{
costSoFar.Remove(neighbor);
}
costSoFar.Add(neighbor, newCost);
float priority = newCost + base.Heuristic(neighbor, end);
neighbor.Parrent = current;
qNodes.Enqueue(neighbor, priority);
cameFrom[neighbor] = current;
if (neighbor == end)
{
var sb = new SequentialPathBuilder(neighbor);
return(this.End(sp, operationCount, sb));
}
this.World.SetVisited(current);
}
}
}
return(this.End(sp, operationCount, new SequentialPathBuilder(null)));
}
internal override PathBuilder GetPath(Node start, Node end)
{
int operationCount = 0;
Stopwatch sp = new Stopwatch();
var qNodes = new SimplePriorityQueue <Node>();
var visited = new HashSet <Node>();
qNodes.Enqueue(start, 0);
sp.Start();
while (qNodes.Count > 0)
{
operationCount++;
var current = qNodes.Dequeue();
if (visited.Contains(current))
{
continue;
}
if (Animation)
{
System.Threading.Thread.Sleep(10);
PrintMap();
}
visited.Add(current);
foreach (var neighbor in this.World.GetNeighbors(base.finder, current))
{
if (visited.Contains(neighbor))
{
continue;
}
int priority = this.Heuristic(end, neighbor);
neighbor.Parrent = current;
qNodes.Enqueue(neighbor, priority);
if (neighbor == end)
{
var sb = new SequentialPathBuilder(neighbor);
return(this.End(sp, operationCount, sb));
}
this.World.SetVisited(current);
}
}
return(End(sp, operationCount, new SequentialPathBuilder(null)));
}
