/// <summary>
/// Inverts the node heritage.
/// </summary>
/// <param name="basePath">The base path.</param>
/// <param name="invertedPath">The inverted path.</param>
/// <returns>The complete path</returns>
private BaseNode InvertNodeHeritage(BaseNode basePath, BaseNode invertedPath)
{
if (invertedPath != null)
{
BaseNode newInvertedPath = invertedPath.Parent;
BaseNode newBasePath = new BaseNode(
invertedPath.X,
invertedPath.Y,
invertedPath.CrateLocations,
this.CalculatePathCost(basePath, TreeHelpers.DetermineMove(basePath.X, basePath.Y, invertedPath.X, invertedPath.Y), invertedPath.CrateLocations),
this.CalculateHeuristicValue(basePath, TreeHelpers.DetermineMove(basePath.X, basePath.Y, invertedPath.X, invertedPath.Y), invertedPath.CrateLocations),
basePath,
TreeHelpers.DetermineMove(basePath.X, basePath.Y, invertedPath.X, invertedPath.Y));
return(this.InvertNodeHeritage(newBasePath, newInvertedPath));
}
return(basePath);
}