public List <int> Solve()
{
openSet.Add(start, 0);
int testerino = openSet.Count;
while (openSet.Count != 0 && !closedSet.Contains(goal))
{
current = openSet.First().Key;
openSet.Remove(current);
closedSet.Add(current);
currentNeighbours = aStarHelper.GetNeighbours(current);
float distance;
foreach (int neighbour in currentNeighbours)
{
if (!closedSet.Contains(neighbour))
{
if (!openSet.ContainsKey(neighbour))
{
dungeon.Get(neighbour).pathfindingParentID = current;
distance = (float)Distance(dungeon.Get(neighbour).GetCenter(), dungeon.Get(goal).GetCenter());
openSet.Add(neighbour, distance);
openSet.OrderBy(x => x.Value);
}
}
}
}
if (!closedSet.Contains(goal))
{
return(null);
}
path = closedSet;
return(path);
}
/**
* Randomly chooses a {@link MZRoom} within the given collection that has at
* least one adjacent empty space.
*
* @param roomCollection the collection of rooms to choose from
* @return the room that was chosen, or null if there are no rooms with
* adjacent empty spaces
*/
protected MZRoom ChooseRoomWithFreeEdge(List <MZRoom> roomCollection,
int keyLevel)
{
List <MZRoom> rooms = new List <MZRoom>(roomCollection);
Shuffle(rooms);
for (int i = 0; i < rooms.Count; ++i)
{
MZRoom room = rooms[i];
foreach (KeyValuePair <Double, int> next in
constraints.GetAdjacentRooms(room.id, keyLevel))
{
if (dungeon.Get(next.Value) == null)
{
return(room);
}
}
}
return(null);
}
public List <int> GetNeighbours(int roomId)
{
List <int> ids = new List <int>();
foreach (MZEdge edge in dungeon.Get(roomId).GetEdges())
{
if (!edge.HasSymbol() || edge.GetSymbol().GetValue() < keyLevel)
{
ids.Add(edge.GetTargetRoomId());
}
}
return(ids);
}
