// Adds a successor to a list if it is not impassible or the parent node
private void AddSuccessor(ArrayList ASuccessors, int AX, int AY)
{
double CurrentCost = planner.GetMap(AX, AY);
if (CurrentCost < 0.0)
{
return;
}
AStarNodeBC NewNode = new AStarNodeBC(this, GoalNode, Cost + CurrentCost, AX, AY, planner);
if (NewNode.IsSameState(Parent))
{
return;
}
ASuccessors.Add(NewNode);
}
public List <Tuple <int, int> > GetPath(int x1, int y1, int x2, int y2, CancellationTokenSource cancel)
{
List <Tuple <int, int> > result = new List <Tuple <int, int> >();
// Save the destination on which the path was planned. This is useful if the planning gets cancelled
// and we later want to re-run the plan (or substitute it with an alternative).
destX = x2;
destY = y2;
Games.Pathfinding.AStar astar = new Games.Pathfinding.AStar();
AStarNodeBC GoalNode = new AStarNodeBC(null, null, 0, x2 - 2, y2 - 2, this);
AStarNodeBC StartNode = new AStarNodeBC(null, GoalNode, 0, x1 - 2, y1 - 2, this);
StartNode.GoalNode = GoalNode;
astar.FindPath(StartNode, GoalNode, cancel);
foreach (AStarNodeBC n in astar.Solution)
{
result.Add(new Tuple <int, int>(n.X, n.Y));
}
return(result);
}