/// <inheritdoc />
public IList<Node> FindPath(Node start, Node end)
{
start.Parent = null;
start.G = 0;
start.H = 0;
this.open.Enqueue(start, start.ID);
while (this.open.Count > 0)
{
Node current = this.open.Dequeue();
current.IsVisited = true;
this.closed.Add(current);
if (current.Equals(end))
{
IList<Node> path = Backtrace(current);
this.ResetNodes();
return path;
}
foreach (Node neighbor in current.Children)
{
if (neighbor.IsBlocked || neighbor.IsVisited)
{
continue;
}
int gscore = current.G + this.findDistance(current, neighbor);
if (this.open.Contains(neighbor))
{
if (gscore < neighbor.G)
{
neighbor.Parent = current;
neighbor.G = gscore;
neighbor.H = this.heuristic(neighbor, end);
this.open.UpdatePriority(neighbor, neighbor.F);
}
continue;
}
neighbor.Parent = current;
neighbor.G = gscore;
neighbor.H = this.heuristic(neighbor, end);
this.open.Enqueue(neighbor, neighbor.F);
}
}
this.ResetNodes();
return null;
}
/// <summary>
/// Initializes a new instance of the Node class with default values.
/// </summary>
/// <param name="id">The node ID.</param>
/// <param name="isBlocked">If the node can be passed or not.</param>
/// <param name="isVisited">If the node has been previously visited or not.</param>
/// <param name="parent">The parent node.</param>
/// <param name="h">The heuristic value.</param>
/// <param name="g">The total cost so far.</param>
public Node(
int id,
bool isBlocked = false,
bool isVisited = false,
Node parent = null,
int h = 0,
int g = 0)
{
this.id = id;
this.IsBlocked = isBlocked;
this.IsVisited = isVisited;
this.Parent = parent;
this.H = h;
this.G = g;
this.Children = new List<Node>();
}
private static void ResetNode(Node node)
{
node.IsVisited = false;
}
private static IList<Node> Backtrace(Node node)
{
IList<Node> reversePath = new List<Node>();
while (node != null)
{
reversePath.Add(node);
node = node.Parent;
}
IList<Node> path = new List<Node>();
for (int i = reversePath.Count - 1; i >= 0; i--)
{
path.Add(reversePath[i]);
}
return path;
}
/// <inheritdoc />
public IList<Node> FindPath(Node start, Node end)
{
return this.pathfinder.FindPath(start, end);
}