private Task <GridNode[]> SuccessorNodes(GridNode parent)
{
//TODO: Fix this nasty ass shit
//-------------------------------------------------------------------------------------------------------------FIX---------------------------------------------------------------------
var tcs = new TaskCompletionSource <GridNode[]>();
List <GridNode> nodes = new List <GridNode>(4);
Point pos = parent.Location.Cordinates;
for (int y = -1; y < 2; y++)
{
var location = new Point(pos.X, pos.Y + y * (size + 1));
if (!MapData.Screen.Contains(location) || location == parent.Location.Cordinates)
{
continue;
}
bool walkable = !MapData.Obstacles.Any(obs => obs.Contains(location));
if (walkable)
{
var tempPoint = new GridPoint(location, walkable);
var tempNode = new GridNode(parent, tempPoint);
nodes.Add(tempNode);
}
}
for (int x = -1; x < 2; x++)
{
var location = new Point(pos.X + x * (size + 1), pos.Y);
if (!MapData.Screen.Contains(location) || location == parent.Location.Cordinates)
{
continue;
}
bool walkable = !MapData.Obstacles.Any(obs => obs.Contains(location));
if (walkable)
{
var tempPoint = new GridPoint(location, walkable);
var tempNode = new GridNode(parent, tempPoint);
nodes.Add(tempNode);
}
}
tcs.SetResult(nodes.ToArray());
return(tcs.Task);
}
public GridNode(Point startGoalPoint)
{
Parrent = null;
Location = new GridPoint(startGoalPoint, true);
}
public static bool SameValues(this GridPoint a, GridPoint b) => a.Walkable && b.Walkable && a.Cordinates.X == b.Cordinates.X && a.Cordinates.Y == b.Cordinates.Y;
public static float Pyth(GridPoint a, GridPoint b) => Pyth(a.Cordinates, b.Cordinates);
