protected virtual void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge)
{
//this is where you process a child node
var childNode = GenerateChildNodeRecord(bestNode, connectionEdge);
//Get the cost estimate for the end node
NavigationGraphNode endNode = connectionEdge.ToNode;
float endNodeCost = bestNode.gValue + connectionEdge.Cost;
//If the node is closed we may have to skip, or remove it from the close list.
if (Closed.contains(endNode))
{
NodeRecord endNodeRecord = Closed.find(endNode); //should find this in the closed list
if (endNodeRecord.gValue <= endNodeCost)
{
continue;
}
Closed.Remove(endNodeRecord);
float endNodeHeuristic = endNodeRecord.fValue - endNodeRecord.gValue;
}
else if (Open.contains(endNode))
{
NodeRecord endNodeRecord = Open.find(endNode);
if (endNodeRecord.gValue <= endNodeCost)
{
continue;
}
float endNodeHeuristic = endNodeRecord.fValue - endNodeRecord.gValue;
}
else
{
NodeRecord endNodeRecord = new NodeRecord();
endNodeRecord.node = endNode;
var endNodeHeuristic = this.Heuristic.H(endNode, GoalNode);
endNodeRecord.gValue = endNodeCost;
endNodeRecord.parent = bestNode;
endNodeRecord.fValue = endNodeCost + endNodeHeuristic;
if (!Open.contains(endNode))
{
Open.Add(endNodeRecord);
}
}
}