X-Git-Url: https://git.dogcows.com/gitweb?p=chaz%2Fcarfire;a=blobdiff_plain;f=CarFire%2FCarFire%2FCarFire%2FPathFinder.cs;h=c37e51863d7ad4b4abe9b18c707de8a8126fcaf8;hp=8b627ace0bed4f8500132ee33da9b6540615940b;hb=d167160264cd2c33de81a71039eddbb959c40bb2;hpb=8bd8893e7f7516c76558ad7262e9f9350f5192b9

diff --git a/CarFire/CarFire/CarFire/PathFinder.cs b/CarFire/CarFire/CarFire/PathFinder.cs
index 8b627ac..c37e518 100644
--- a/CarFire/CarFire/CarFire/PathFinder.cs
+++ b/CarFire/CarFire/CarFire/PathFinder.cs
@@ -1,4 +1,8 @@
-using System;
+
+// Uncomment this to disable diagonal movemet.
+//#define ALLOW_DIAGONAL_MOVEMENT
+
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -112,7 +116,7 @@ namespace CarFire
             mFringe = new BinaryHeap<Cell>();
             mCells = new Cell[mGridWidth, mGridHeight];
 
-            Cell startCell = new Cell(start, 0, GetManhattanDistance(start, finish));
+            Cell startCell = new Cell(start, 0, heuristic(start, finish));
             mFringe.Add(startCell);
             mCells[start.X, start.Y] = startCell;
             while (mFringe.Count > 0)
@@ -125,7 +129,7 @@ namespace CarFire
                     List<Point> list = new List<Point>();
 
                     cell = cell.Parent;
-                    while (cell.Point != start)
+                    while (cell != null && cell.Point != start)
                     {
                         list.Add(cell.Point);
                         cell = cell.Parent;
@@ -136,14 +140,16 @@ namespace CarFire
                 }
 
                 List<Point> neighbors = new List<Point>(8);
+                neighbors.Add(new Point(cell.Point.X, cell.Point.Y - 1));
+                neighbors.Add(new Point(cell.Point.X - 1, cell.Point.Y));
+                neighbors.Add(new Point(cell.Point.X + 1, cell.Point.Y));
+                neighbors.Add(new Point(cell.Point.X, cell.Point.Y + 1));
+#if ALLOW_DIAGONAL_MOVEMENT
                 neighbors.Add(new Point(cell.Point.X - 1, cell.Point.Y - 1));
-                neighbors.Add(new Point(cell.Point.X + 0, cell.Point.Y - 1));
                 neighbors.Add(new Point(cell.Point.X + 1, cell.Point.Y - 1));
-                neighbors.Add(new Point(cell.Point.X - 1, cell.Point.Y + 0));
-                neighbors.Add(new Point(cell.Point.X + 1, cell.Point.Y + 0));
                 neighbors.Add(new Point(cell.Point.X - 1, cell.Point.Y + 1));
-                neighbors.Add(new Point(cell.Point.X + 0, cell.Point.Y + 1));
                 neighbors.Add(new Point(cell.Point.X + 1, cell.Point.Y + 1));
+#endif
                 foreach (Point point in neighbors)
                 {
                     Cell inQueue = mCells[point.X, point.Y];
@@ -151,11 +157,11 @@ namespace CarFire
                     if (0 <= point.X && point.X < mGridWidth && 0 <= point.Y && point.Y < mGridHeight &&
                         mGrid[point.X, point.Y])
                     {
-                        int cost = cell.G + GetCost(cell.Point, point);
+                        int cost = cell.G + costFunction(cell.Point, point);
 
                         if (inQueue == null)
                         {
-                            Cell neighbor = new Cell(point, cost, GetManhattanDistance(point, finish), cell);
+                            Cell neighbor = new Cell(point, cost, heuristic(point, finish), cell);
                             mFringe.Add(neighbor);
                             mCells[point.X, point.Y] = neighbor;
                         }