public SysClG.List <LibPF.Position> FindPath(LibPF.Grid grid, LibPF.Position start, LibPF.Position end, LibPF.Offset[] movementPattern, int iterationLimit)
{
#if DEBUG
this.ClearStepList();
#endif
if (start == end)
{
return(new SysClG.List <LibPF.Position> {
start
});
}
LibPF.Finder.MinHeapNode head = new LibPF.Finder.MinHeapNode(start, this.ManhattanDistance(start, end));
LibPF.Finder.MinHeap open = new LibPF.Finder.MinHeap();
open.Push(head);
float[] costSoFar = new float[grid.DimX * grid.DimY];
LibPF.Position[] cameFrom = new LibPF.Position[grid.DimX * grid.DimY];
while (open.HasNext() && iterationLimit > 0)
{
LibPF.Position current = open.Pop().Position;
#if DEBUG
this.MessageCurrent(current, this.PartiallyReconstructPath(grid, start, current, cameFrom));
#endif
if (current == end)
{
return(this.ReconstructPath(grid, start, end, cameFrom));
}
this.StepOn(grid, open, cameFrom, costSoFar, movementPattern, current, end);
#if DEBUG
this.MessageClose(current);
#endif
--iterationLimit;
}
return(null);
}
public void Push(LibPF.Finder.MinHeapNode node)
{
if (this.head == null)
{
this.head = node;
}
else if (node.ExpectedCost < this.head.ExpectedCost)
{
node.Next = this.head;
this.head = node;
}
else
{
LibPF.Finder.MinHeapNode current = this.head;
while (current.Next != null && current.Next.ExpectedCost <= node.ExpectedCost)
{
current = current.Next;
}
node.Next = current.Next;
current.Next = node;
}
}
public LibPF.Finder.MinHeapNode Pop()
{
LibPF.Finder.MinHeapNode top = this.head;
this.head = this.head.Next;
return(top);
}
