bool Ready(int x0, int y0, int x1, int y1)
{
if (!InvalidIndex(x0, y0) || !InvalidIndex(x1, y1))
{
return(false);
}
if (IsBlock(x0, y0) || IsBlock(x1, y1))
{
return(false);
}
for (int i = 0; i < width_; ++i)
{
for (int j = 0; j < height_; ++j)
{
var node = mapdata_[j, i];
node.Clear();
}
}
openlist_.Clear();
closelist_.Clear();
start_ = GetNode(x0, y0);
goal_ = GetNode(x1, y1);
start_.h = GetH(start_);
start_.SetCost();
start_.viststate = VistState.Opened;
openlist_.Add(start_);
return(true);
}
bool ProcessNeigbhors(Node current)
{
int parentx = current.x;
int parenty = current.y;
Point[] neigbhors = enableSlant ? sSlantNeigbhors : sNormalNeigbhors;
for (int i = 0; i < neigbhors.Length; ++i)
{
int x = parentx + neigbhors[i].x;
int y = parenty + neigbhors[i].y;
if (!InvalidIndex(x, y))
{
continue;
}
Node node = GetNode(x, y);
if (node.closed)
{
continue;
}
if (node.opened)
{
continue;
}
if (node.blocked)
{
node.viststate = VistState.Close;
closelist_.Add(node);
continue;
}
node.parent = current;
node.g = current.g + neigbhors[i].g;
node.h = GetH(node);
node.SetCost();
node.viststate = VistState.Opened;
openlist_.Add(node);
//if (node.Equals(goal_)) {
// return false;
//}
}
return(true);
}
