public void ScoreSpot_A_Star_With_Model_And_Gradient_Avoidance(Spot spotLinkedToCurrent, Spot destinationSpot, int currentSearchID, ILocationHeuristics locationHeuristics, PriorityQueue <Spot, float> prioritySpotQueue)
{
//score spot
float G_Score = currentSearchSpot.traceBackDistance + currentSearchSpot.GetDistanceTo(spotLinkedToCurrent); // the movement cost to move from the starting point A to a given square on the grid, following the path generated to get there.
float H_Score = spotLinkedToCurrent.GetDistanceTo2D(destinationSpot) * heuristicsFactor; // the estimated movement cost to move from that given square on the grid to the final destination, point B. This is often referred to as the heuristic, which can be a bit confusing. The reason why it is called that is because it is a guess. We really don�t know the actual distance until we find the path, because all sorts of things can be in the way (walls, water, etc.). You are given one way to calculate H in this tutorial, but there are many others that you can find in other articles on the web.
float F_Score = G_Score + H_Score;
if (spotLinkedToCurrent.IsFlagSet(Spot.FLAG_WATER))
{
F_Score += 30;
}
int score = GetTriangleClosenessScore(spotLinkedToCurrent.location);
score += GetTriangleGradiantScore(spotLinkedToCurrent.location, gradiantMax);
F_Score += score * 2;
if (!spotLinkedToCurrent.SearchScoreIsSet(currentSearchID) || F_Score < spotLinkedToCurrent.SearchScoreGet(currentSearchID))
{
// shorter path to here found
spotLinkedToCurrent.traceBack = currentSearchSpot;
spotLinkedToCurrent.traceBackDistance = G_Score;
spotLinkedToCurrent.SearchScoreSet(currentSearchID, F_Score);
prioritySpotQueue.Enqueue(spotLinkedToCurrent, -F_Score);
}
}