public List <Node> solve(Maze maze)
{
List <Node> path = new List <Node>();
path.Add(maze.GetStart());
var current = maze.GetStart().neighbours[2];
if (current == null)
{
return(path);
}
var heading = 2; //South
var turn = 1; //Turning left, -1 for right
var startPos = maze.GetStart().Position();
var endPos = maze.GetEnd().Position();
completed = false;
while (true)
{
path.Add(current);
Point position = current.Position();
if (position == startPos || position == endPos)
{
if (position == endPos)
{
completed = true;
path.Add(current);
break;
}
}
Node[] n = current.neighbours;
//
if (n[Minus(heading)] != null)
{
heading = Minus(heading);
current = n[heading];
}
else if (n[heading] != null)
{
current = n[heading];
}
else if (n[Add(heading)] != null)
{
heading = Add(heading);
current = n[heading];
}
else if (n[AddTwo(heading)] != null)
{
heading = AddTwo(heading);
current = n[heading];
}
completed = false;
}
return(path);
}
public Dijkstra(Maze maze)
{
this.maze = maze;
}
