private List <List <char> > FindWay(List <int> start, List <int> end)
{
List <List <char> > way = this.maze;
Node current_node = null;
var start_node = new Node(start[0], start[1]);
var end_node = new Node(end[0], end[1]);
var openList = new BinaryHeap();
var closedList = new List <Node> {
};
int g = 0;
openList.Insert(start_node);
while (!openList.Empty())
{
current_node = openList.ExtractMin();
closedList.Add(current_node);
if (closedList.FirstOrDefault(n => n.x == end_node.x && n.y == end_node.y) != null)
{
break;
}
List <Node> children = GetChildren(current_node.x, current_node.y, way, end_node);
++g;
foreach (var child in children)
{
if (closedList.FirstOrDefault(n => n.x == child.x && n.y == child.y) != null)
{
continue;
}
if (openList.items.FirstOrDefault(n => n.x == child.x && n.y == child.y) == null)
{
child.g = g;
child.h = Math.Abs(end_node.x - child.x) + Math.Abs(end_node.y - child.y);
child.f = child.g + child.h;
child.parent = current_node;
openList.Insert(child);
}
else
{
if (g + child.h < child.f)
{
child.g = g;
child.f = child.g + child.h;
child.parent = current_node;
}
}
}
}
if (current_node.x == end_node.x && current_node.y == end_node.y)
{
List <List <int> > path = new List <List <int> > {
};
while (current_node != null)
{
path.Add(new List <int> {
current_node.x, current_node.y
});
current_node = current_node.parent;
}
path.Reverse();
List <char> letters = "123456789abcdefghijklmnopqrstuvwxyz".ToCharArray().ToList();
for (int i = 0; i < path.Count; ++i)
{
way[path[i][0]][path[i][1]] = letters[i % letters.Capacity];
}
return(way);
}
else
{
return(null);
}
}
