private static bool isGoalReachable(CollisionMap Map)
{
List <CollisionMapElement> neighboursToCheck = Map.getElement(Map.GoalPosition).getUnblockedNeighbours();
List <CollisionMapElement> elementList = new List <CollisionMapElement>();
//Debug.Log("isGoalReachable");
while (neighboursToCheck.Except(elementList).Count() > 0)
{
CollisionMapElement target = neighboursToCheck[0];
if (!elementList.Contains(target))
{
elementList.Add(target);
}
List <CollisionMapElement> neighbours = target.getUnblockedNeighbours();
if (
neighboursToCheck.Except(neighbours).Count() != 0 &&
elementList.Intersect(neighbours).Count() != neighbours.Count()
)
{
neighboursToCheck.AddRange(neighbours.Except(neighboursToCheck).ToList());
}
neighboursToCheck.Remove(target);
}
//Map.printMap();
//Debug.Log("end isGoalReachable");
return(elementList.Any(element => element.ElementCoordinate.Equals(Map.CurrentPosition)));
}
public void addNeighbour(CollisionMapElement newNeighbour)
{
if (Neighbours == null)
{
Neighbours = new List <CollisionMapElement>();
}
Neighbours.Add(newNeighbour);
}