private IList <Point> DoPlan(RoutePlanData routePlanData, AStarNode currenNode)
{
IList <CompassDirections> allCompassDirections = CompassDirectionsHelper.GetAllCompassDirections();
foreach (CompassDirections directions in allCompassDirections)
{
Point adjacentPoint = GeometryHelper.GetAdjacentPoint(currenNode.Location, directions);
if (routePlanData.CellMap.Contains(adjacentPoint) && !this.obstacles[adjacentPoint.X][adjacentPoint.Y])
{
int cost = this.costGetter.GetCost(currenNode.Location, directions);
int introduced15 = Math.Abs((int)(adjacentPoint.X - routePlanData.Destination.X));
int num2 = introduced15 + Math.Abs((int)(adjacentPoint.Y - routePlanData.Destination.Y));
if (num2 == 0)
{
IList <Point> list2 = new List <Point>();
list2.Add(routePlanData.Destination);
list2.Insert(0, currenNode.Location);
for (AStarNode node = currenNode; node.PreviousNode != null; node = node.PreviousNode)
{
list2.Insert(0, node.PreviousNode.Location);
}
return(list2);
}
AStarNode nodeOnLocation = this.GetNodeOnLocation(adjacentPoint, routePlanData);
if (nodeOnLocation != null)
{
if (nodeOnLocation.CostG > cost)
{
nodeOnLocation.ResetPreviousNode(currenNode, cost);
}
}
else
{
AStarNode item = new AStarNode(adjacentPoint, currenNode, cost, num2);
routePlanData.OpenedList.Add(item);
}
}
}
routePlanData.OpenedList.Remove(currenNode);
routePlanData.ClosedList.Add(currenNode);
AStarNode minCostNode = this.GetMinCostNode(routePlanData.OpenedList);
if (minCostNode == null)
{
return(null);
}
return(this.DoPlan(routePlanData, minCostNode));
}
public IList <Point> Plan(Point start, Point destination)
{
Rectangle map = new Rectangle(0, 0, this.columnCount, this.lineCount);
if (!(map.Contains(start) && map.Contains(destination)))
{
throw new Exception("StartPoint or Destination not in the current map!");
}
RoutePlanData routePlanData = new RoutePlanData(map, destination);
AStarNode item = new AStarNode(start, null, 0, 0);
routePlanData.OpenedList.Add(item);
AStarNode currenNode = item;
return(this.DoPlan(routePlanData, currenNode));
}
private AStarNode GetNodeOnLocation(Point location, RoutePlanData routePlanData)
{
foreach (AStarNode node in routePlanData.OpenedList)
{
if (node.Location == location)
{
return(node);
}
}
foreach (AStarNode node in routePlanData.ClosedList)
{
if (node.Location == location)
{
return(node);
}
}
return(null);
}