public void deleteNode(RectangleNode n)
{
RectangleNode parent = n.getParent();
parent.removeEdge(n);
this._nodes.Remove(n);
}
public void rollBack(RectangleNode n)
{
RectangleNode a = n;
while (a.isBusy())
{
RectangleNode parent = a.getParent();
this.deleteNode(a);
a = parent;
}
return;
}
private Path recursiveTraceBack(RectangleNode goalNode, Path l)
{
if (goalNode.getParent() == null)
{
l.AddNewPoint(goalNode.getState().point);
return(l);
}
else
{
this.recursiveTraceBack(goalNode.getParent(), l);
l.AddNewPoint(goalNode.getState().point);
if (goalNode.getParent().getParent() != null)
{
if (goalNode.getParent().getState().getVelocityX() != goalNode.getState().getVelocityX() && goalNode.getParent().getState().getPosY() >= goalNode.getState().getPosY())
{
goalNode.getParent().getState().point.TurningPoint = true;
}
}
return(l);
}
}