/**
* <summary>
* Finds adjacent and possibly free tiles to the one given
* </summary>
*/
private List <LayerTile> IsAdjacentTileFree(LayerTile tile, DStarLite dstar)
{
List <LayerTile> res = new List <LayerTile>();
if (tile != null)
{
foreach (Point neighborPoint in fog.Adjacents(tile, dstar.adjPoints))
{
LayerTile u = map.GetTileByMapCoordinates(neighborPoint.X, neighborPoint.Y);
if (dstar.CalculateDistance(u) != float.PositiveInfinity)
{
res.Add(u);
}
}
}
return(res);
}
