private List<Node> GetNeighbours(Node current)
{
List<Node> neighbours = new List<Node>();
for (int x = -1; x <= 1; x++)
{
for (int y = -1; y <= 1; y++)
{
if (x != 0 || y != 0)
{
Node node = new Node(current.X + x, current.Y + y);
neighbours.Add(node);
}
}
}
return neighbours;
}
private double Distance(Node one, Node two)
{
return Math.Sqrt(Math.Pow(two.X - one.X, 2) + Math.Pow(two.Y - one.Y, 2));
}
private Node[] Path(Node destination, Node start)
{
LinkedList<Node> nodes = new LinkedList<Node>();
Node node = destination;
while (!start.Equals(destination))
{
nodes.AddFirst(new Node(node.X, node.Y));
if (node.previous == null)
{
break;
}
node = node.previous;
}
return nodes.ToArray();
}
public Astar(Node start, Node finish)
{
this.start = start;
this.finish = finish;
}
private double HeuristicCost(Node start, Node end)
{
double dx = start.X - end.X;
double dy = start.Y - end.Y;
return Math.Sqrt(Math.Pow(dx, 2) + Math.Pow(dy, 2));
}