From 6e0bb361320376490a99ecb0d4a5421eb4ae9d45 Mon Sep 17 00:00:00 2001
From: Dan Cojocaru <dancojocaru2010@hotmail.com>
Date: Thu, 2 Dec 2021 00:04:10 +0200
Subject: [PATCH] Forgot minor things about IDA*

Minor things like avoiding obstacles...
---
 IDAstar.cs | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/IDAstar.cs b/IDAstar.cs
index a02fdd6..2e816ae 100644
--- a/IDAstar.cs
+++ b/IDAstar.cs
@@ -179,13 +179,26 @@ namespace IdaStar
 					if (!neighbour.IsInsideBox(_board.Count, _board[0].Count)) {
 						continue;
 					}
+                    if (_board[neighbour.Row][neighbour.Column] == CellState.OBSTACLE) {
+						continue;
+					}
+
+                    if (_board[neighbour.Row][neighbour.Column] == CellState.EMPTY) {
+						_board[neighbour.Row][neighbour.Column] = CellState.PATH;
+					}
+					AlgorithmStep?.Invoke(this);
 					var neighbourF = search(neighbour, cost + increment, threshold);
+
                     if (neighbourF < min) {
 						min = neighbourF;
 					}
                     if (min == zero) {
 						break;
 					}
+
+					if (_board[neighbour.Row][neighbour.Column] == CellState.PATH) {
+						_board[neighbour.Row][neighbour.Column] = CellState.EMPTY;
+					}
 				}
 
 				return min;