X-Git-Url: https://git.dogcows.com/gitweb?p=chaz%2Fcarfire;a=blobdiff_plain;f=CarFire%2FCarFire%2FCarFire%2FPathFinder.cs;h=ef41370ef4a3fc442b623d3a7d1d2be3c4748ab0;hp=53e148d1f2cc713b29940cd2613df0ac5462bcfb;hb=122c062297acac44673e947b666c1d72cd23fb1b;hpb=af9deb873b24dadd0d509ce199fc6cac2b3efbc9

diff --git a/CarFire/CarFire/CarFire/PathFinder.cs b/CarFire/CarFire/CarFire/PathFinder.cs
index 53e148d..ef41370 100644
--- a/CarFire/CarFire/CarFire/PathFinder.cs
+++ b/CarFire/CarFire/CarFire/PathFinder.cs
@@ -68,7 +68,7 @@ namespace CarFire
         /// <param name="start">The cell to start at.</param>
         /// <param name="finish">The desired destination.</param>
         /// <returns>A list of points representing the path through the grid,
-        /// ends points not included, or null if no path could be found.</return>
+        /// starting point not included, or null if no path could be found.</return>
         public List<Point> GetPath(Point start, Point finish)
         {
             return GetPath(start, finish, GetManhattanDistance, GetCost);
@@ -82,7 +82,7 @@ namespace CarFire
         /// <param name="finish">The desired destination.</param>
         /// <param name="heuristic">The heuristic function.</param>
         /// <returns>A list of points representing the path through the grid,
-        /// ends points not included, or null if no path could be found.</return>
+        /// starting point not included, or null if no path could be found.</return>
         public List<Point> GetPath(Point start, Point finish, Heuristic heuristic)
         {
             return GetPath(start, finish, heuristic, GetCost);
@@ -96,7 +96,7 @@ namespace CarFire
         /// <param name="finish">The desired destination.</param>
         /// <param name="costFunction">The cost function</param>
         /// <returns>A list of points representing the path through the grid,
-        /// ends points not included, or null if no path could be found.</return>
+        /// starting point not included, or null if no path could be found.</return>
         public List<Point> GetPath(Point start, Point finish, CostFunction costFunction)
         {
             return GetPath(start, finish, GetManhattanDistance, costFunction);
@@ -110,7 +110,7 @@ namespace CarFire
         /// <param name="heuristic">The heuristic function.</param>
         /// <param name="costFunction">The cost function.</param>
         /// <returns>A list of points representing the path through the grid,
-        /// ends points not included, or null if no path could be found.</return>
+        /// starting point not included, or null if no path could be found.</return>
         public List<Point> GetPath(Point start, Point finish, Heuristic heuristic, CostFunction costFunction)
         {
             mFringe = new BinaryHeap<Cell>();
@@ -127,13 +127,10 @@ namespace CarFire
                 if (cell.Point == finish)
                 {
                     List<Point> list = new List<Point>();
+                    list.Add(cell.Point);
 
                     cell = cell.Parent;
-                    while (cell.Point != start)
-                    {
-                        list.Add(cell.Point);
-                        cell = cell.Parent;
-                    }
+                    if (cell != null) for (; cell.Point != start; cell = cell.Parent) list.Add(cell.Point);
 
                     list.Reverse();
                     return list;
@@ -152,13 +149,12 @@ namespace CarFire
 #endif
                 foreach (Point point in neighbors)
                 {
-                    Cell inQueue = mCells[point.X, point.Y];
-
                     if (0 <= point.X && point.X < mGridWidth && 0 <= point.Y && point.Y < mGridHeight &&
                         mGrid[point.X, point.Y])
                     {
                         int cost = cell.G + costFunction(cell.Point, point);
 
+                        Cell inQueue = mCells[point.X, point.Y];
                         if (inQueue == null)
                         {
                             Cell neighbor = new Cell(point, cost, heuristic(point, finish), cell);