private List<SkyNetCell> GetAdjacentWalkableNodes(SkyNetCell currentPosition)
{
var nextLocations = currentPosition.Neighbors;
var walkableNodes = new List<SkyNetCell>();
foreach (var node in nextLocations)
{
// Ignore already-closed nodes
if (node.Status == SkyNetCellStatus.Close)
continue;
// Already-open nodes are only added to the list if their G-value is lower going via this route.
if (node.Parent == null)
{
node.Parent = currentPosition;
node.DistanceFromStart = currentPosition.DistanceFromStart + 1;
node.Status = SkyNetCellStatus.Open;
walkableNodes.Add(node);
}
else
{
if (node.DistanceFromStart > currentPosition.DistanceFromStart + 1)
{
node.Parent = currentPosition;
node.DistanceFromStart = currentPosition.DistanceFromStart + 1;
node.Status = SkyNetCellStatus.Open;
walkableNodes.Add(node);
}
}
}
return walkableNodes.OrderByDescending(n => n.DistanceFromStart).ToList();
}
public SkyNet(List<SkyNetCell> nodes, int InitialId)
{
ResetNodes(nodes);
_nodes = nodes;
_startNode = _nodes.First(x => x.Id == InitialId);
_endNode = null;
}
private void Walk(SkyNetCell currentPosition)
{
var borderCells = new List<SkyNetCell>();
borderCells.Add(currentPosition);
while (borderCells.Count>0)
{
var currentCell = borderCells.First();
currentCell.Status = SkyNetCellStatus.Close;
borderCells.RemoveAt(0);
foreach (var neighbor in currentCell.Neighbors)
{
if(neighbor.Status == SkyNetCellStatus.Close)
continue;
else if (neighbor.Status == SkyNetCellStatus.Untested)
{
neighbor.Parent = currentCell;
neighbor.Status = SkyNetCellStatus.Open;
neighbor.DistanceFromStart = currentCell.DistanceFromStart + 1;
borderCells.Add(neighbor);
}
else
{
if (neighbor.DistanceFromStart > currentCell.DistanceFromStart + 1)
{
neighbor.Parent = currentCell;
neighbor.DistanceFromStart = currentCell.DistanceFromStart + 1;
}
}
}
borderCells = borderCells.Where(c => c.Status != SkyNetCellStatus.Close).OrderBy(d => d.DistanceFromStart).ToList();
}
}