private static List <Point> GetPathForNode(MazeNode path)
{
var result = new List <Point>();
var current = path;
while (current != null)
{
result.Add(current.Position);
current = current.CameFrom;
}
result.Reverse();
return(result);
}
public static List <Point> FindPath(int[,] field, Point start, Point goal, int bombCount)
{
var closed = new Collection <MazeNode>();
var opened = new Collection <MazeNode>();
var startNode = new MazeNode()
{
Position = start,
CameFrom = null,
BombCount = bombCount,
PathLengthFromStart = 0,
PathLengthEstimation = GetPathLength(start, goal)
};
opened.Add(startNode);
while (opened.Count > 0)
{
var current = opened.OrderBy(node => node.FullEstimation).First();
if (current.Position == goal)
{
return(GetPathForNode(current));
}
opened.Remove(current);
closed.Add(current);
foreach (var neighbour in GetNeighbours(current, goal, field))
{
if (closed.Count(node => node.Position == neighbour.Position) > 0)
{
continue;
}
var openNode = opened.FirstOrDefault(node => node.Position == neighbour.Position);
if (openNode == null)
{
opened.Add(neighbour);
}
else if (openNode.PathLengthFromStart > neighbour.PathLengthFromStart || openNode.BombCount > 0)
{
openNode.CameFrom = current;
openNode.BombCount = bombCount - 1;
openNode.PathLengthFromStart = neighbour.PathLengthFromStart;
}
}
}
return(null);
}
private static IEnumerable <MazeNode> GetNeighbours(MazeNode path, Point goal, int[,] field)
{
var result = new Collection <MazeNode>();
var neighbours = new Point[4];
neighbours[0] = new Point(path.Position.X + 1, path.Position.Y);
neighbours[1] = new Point(path.Position.X - 1, path.Position.Y);
neighbours[2] = new Point(path.Position.X, path.Position.Y + 1);
neighbours[3] = new Point(path.Position.X, path.Position.Y - 1);
foreach (var point in neighbours)
{
if (point.X < 0 || point.X >= field.GetLength(0))
{
continue;
}
if (point.Y < 0 || point.Y >= field.GetLength(1))
{
continue;
}
if ((field[point.X, point.Y] != 0) && (field[point.X, point.Y] != 1))
{
continue;
}
var neighbour = new MazeNode()
{
Position = point,
CameFrom = path,
PathLengthFromStart = path.PathLengthFromStart + GetDistanceBetweenNeighbours(),
PathLengthEstimation = GetPathLength(point, goal)
};
result.Add(neighbour);
}
return(result);
}
public MazeNode(Point point, MazeNode from, int bombCount)
{
Position = point;
CameFrom = from;
BombCount = bombCount;
}
