/// <summary>
/// This method find the next path node to visit, puts that node on the
/// closed list and adds any nodes adjacent to the visited node to the
/// open list.
/// </summary>
private void DoSearchStep()
{
SearchNode newOpenListNode;
bool foundNewNode = SelectNodeToVisit(out newOpenListNode);
if (foundNewNode)
{
Point currentPos = newOpenListNode.Position;
foreach (Point point in map.OpenMapTiles(currentPos))
{
SearchNode mapTile = new SearchNode(point,
map.StepDistanceToEnd(point),
newOpenListNode.DistanceTraveled + 1);
if (!InList(openList, point) &&
!InList(closedList, point))
{
openList.Add(mapTile);
paths[point] = newOpenListNode.Position;
}
}
if (currentPos == map.EndTile)
{
searchStatus = SearchStatusEnum.PathFound;
}
openList.Remove(newOpenListNode);
closedList.Add(newOpenListNode);
}
else
{
searchStatus = SearchStatusEnum.NoPath;
}
}
/// <summary>
/// Setup search
/// </summary>
/// <param name="mazeMap">Map to search</param>
public void Initialize(Map mazeMap)
{
searchStatus = SearchStatusEnum.Stopped;
openList = new List <SearchNode>();
closedList = new List <SearchNode>();
paths = new Dictionary <Point, Point>();
map = mazeMap;
//for depth first
visitedNodesStack = new Stack <SearchNode>();
}
/// <summary>
/// Reset the search
/// </summary>
public void Reset()
{
searchStatus = SearchStatusEnum.Stopped;
totalSearchSteps = 0;
Scale = map.Scale;
openList.Clear();
closedList.Clear();
paths.Clear();
openList.Add(new SearchNode(map.StartTile,
Map.StepDistance(map.StartTile, map.EndTile)
, 0));
startPosition = map.StartTile;
visitedNodesStack.Clear();
}