static public void BStarStep(NLocate src, NLocate dst, NMap map, List <int> bufferIndex, NPathNode pathList)
{
if (src.Equals(dst))
{
Console.WriteLine("FindPath with B*");
GPath = new List <NLocate>(pathList.GetPath());
return;
}
var dstLoc = src.NearLocTo(dst);
if (!map.Alive(dstLoc))
{
bufferIndex.Add(dstLoc.ToIndex(map));
BStarStep(dstLoc, dst, map, bufferIndex, pathList.AddChild(dstLoc.X, dstLoc.Y));
}
else
{
foreach (var l in src.Branch(dstLoc))
{
if (!bufferIndex.Contains(l.ToIndex(map.Width)) && !map.Alive(l))
{
bufferIndex.Add(l.ToIndex(map));
BStarStep(l, dst, map, bufferIndex, pathList.AddChild(l.X, l.Y));
}
}
}
}
public IEnumerable <NLocate> LineTo(NLocate dst)
{
NLocate curLoc = this;
while (true)
{
curLoc = curLoc.NearLocTo(dst);
if (curLoc.Equals(dst))
{
yield break;
}
yield return(curLoc);
}
}
