private void AddNodeCapsuleToOpenList(SortedDictionary<int, SortedDictionary<int, AStarNodeCapsule>> list, AStarNodeCapsule capsule)
{
int distanceToEnd = capsule.Priority;
if (!list.ContainsKey(distanceToEnd))
{
list[distanceToEnd] = new SortedDictionary<int, AStarNodeCapsule>();
}
list[distanceToEnd][capsule.Node.ID] = capsule;
}
/*Convenience methods*/
private void AddNodeCapsuleToClosedList(SortedDictionary<int, SortedDictionary<int, AStarNodeCapsule>> list, AStarNodeCapsule capsule)
{
if (capsule.ShortestDistance != null)
{
int distance = (int)capsule.ShortestDistance;
if (!list.ContainsKey(distance))
{
list[distance] = new SortedDictionary<int, AStarNodeCapsule>();
}
list[distance][capsule.Node.ID] = capsule;
System.Console.WriteLine("Closed node " + capsule.Node.ID);
}
}
private LinkedList<Node> GetRouteFromEndAStarNodeCapsule(AStarNodeCapsule endCapsule)
{
LinkedList<Node> route = new LinkedList<Node>();
AStarNodeCapsule currentCapsule = endCapsule;
while (currentCapsule != null)
{
route.AddFirst(currentCapsule.Node);
currentCapsule = currentCapsule.PreviousRouteNode;
}
route.RemoveFirst();
System.Console.WriteLine("New route:");
foreach(Node node in route)
{
System.Console.WriteLine(node.ID);
}
return route;
}
private void RemoveNodeCapsuleFromOpenList(SortedDictionary<int, SortedDictionary<int, AStarNodeCapsule>> list, AStarNodeCapsule capsule)
{
list[(int)capsule.Priority].Remove(capsule.Node.ID);
if (list[(int)capsule.Priority].Count == 0)
{
list.Remove(capsule.Priority);
}
}
private AStarNodeCapsule GetAdjacent(Dictionary<int, AStarNodeCapsule> capsuleMap, AStarNodeCapsule capsule, Edge edge)
{
if (edge.Node1 == capsule.Node)
{
return capsuleMap[edge.Node2.ID];
}
else
{
return capsuleMap[edge.Node1.ID];
}
}
