List <GraphPoint> ReconstructPath(SquareGrid grid, AStarSearch astar)
{
//in reverse way -> end = start
GraphPoint end = astar.cameFrom.Where(x => x.Key.wType == GraphPoint.WType.start).First().Key;
var tr = astar.cameFrom.Where(x => x.Key.wType == GraphPoint.WType.end);
if (tr.Any())
{
GraphPoint cur = tr.First().Key;
List <GraphPoint> path = new List <GraphPoint>();
while (!cur.Equals(end))
{
GraphPoint ptr = cur;
if (!astar.cameFrom.TryGetValue(cur, out ptr))
{
ptr = cur;
}
path.Add(cur);
cur = ptr;
}
return(path);
}
else
{
DialogResult result = System.Windows.Forms.MessageBox.Show(Application.OpenForms[0], "Лабіринт не має розв'язку", "Помилка", MessageBoxButtons.YesNo);
}
return(null);
}
