/**
* Gets a list of successor nodes for a specified node.
* Each successor node's parent is set to the speified node.
*
* @param node The node to get successors for.
*/
private List<Node> getSuccessors(Node node)
{
List<Node> successors = new List<Node>();
for (int i = 0; i < BORDER_NODES.Length; i++)
{
Vector2 pos = node.getPosition() + BORDER_NODES[i];
Node n = getNode((int)pos.X, (int)pos.Y);
if (n != null && canMove(node, n))
{
n.setParent(node);
successors.Add(n);
}
}
return successors;
}
/**
* Determines if it is possible to move between two adjacent nodes.
*
* @param a The first node.
* @param b The second node.
* @return True if it is possible to move from a to b.
*/
private bool canMove(Node a, Node b)
{
Vector2 posA = a.getPosition();
Vector2 posB = b.getPosition();
float diff = Math.Abs(scaledHeightMap[(int)posA.X, (int)posA.Y] - scaledHeightMap[(int)posB.X, (int)posB.Y]);
return diff <= MAX_MOVE_DIST;
}