//списка соседей для точки:
private static Collection<PathNode> GetNeighbours(PathNode pathNode,
Point goal, AreaType[,] field)
{
var result = new Collection<PathNode>();
// Соседними точками являются соседние по стороне клетки.
Point[] neighbourPoints = new Point[8];
neighbourPoints[0] = new Point(pathNode.Position.X + 1, pathNode.Position.Y);
neighbourPoints[1] = new Point(pathNode.Position.X - 1, pathNode.Position.Y);
neighbourPoints[2] = new Point(pathNode.Position.X, pathNode.Position.Y + 1);
neighbourPoints[3] = new Point(pathNode.Position.X, pathNode.Position.Y - 1);
neighbourPoints[4] = new Point(pathNode.Position.X + 1, pathNode.Position.Y+1);
neighbourPoints[5] = new Point(pathNode.Position.X - 1, pathNode.Position.Y-1);
neighbourPoints[6] = new Point(pathNode.Position.X-1, pathNode.Position.Y + 1);
neighbourPoints[7] = new Point(pathNode.Position.X+1, pathNode.Position.Y - 1);
foreach (var point in neighbourPoints)
{
// Проверяем, что не вышли за границы карты.
if (point.X < 0 || point.X >= field.GetLength(0)*10)
continue;
if (point.Y < 0 || point.Y >= field.GetLength(1)*10)
continue;
// Проверяем, что по клетке можно ходить.
if ((field[(int)point.X/10, (int)point.Y/10]== AreaType.Water))
continue;
// Заполняем данные для точки маршрута.
var neighbourNode = new PathNode()
{
Position = point,
CameFrom = pathNode,
PathLengthFromStart = pathNode.PathLengthFromStart +
GetDistanceBetweenNeighbours(),
HeuristicEstimatePathLength = GetHeuristicPathLength(point, goal)
};
result.Add(neighbourNode);
}
return result;
}