private void UpdateVertex(Cell s, Cell sprime)
{
decimal totalCost = s.G + AlgorithmFormulas.C(s, sprime);
if (totalCost < sprime.G)
{
sprime.G = totalCost;
sprime.F = sprime.G;
sprime.Parent = s;
if (isInFringe[sprime.X, sprime.Y])
{
fringe.Remove(sprime);
}
fringe.Push(sprime, sprime.G);
isInFringe[sprime.X, sprime.Y] = true;
}
}
public void ExpandState(Cell s, int i)
{
Cell[] sprimes = AlgorithmFormulas.Successors(s, cellGrid);
for (int k = 0; k < sprimes.Length; k++)
{
if (sprimes[k] == null)
{
continue;
}
Cell sprime = sprimes[k];
decimal cost = cellData[i][s.X, s.Y].G + AlgorithmFormulas.C(s, sprime);
if (!itTracker[i][sprime.X, sprime.Y])
{
cellData[i][sprime.X, sprime.Y].G = decimal.MaxValue;
cellData[i][sprime.X, sprime.Y].Parent = null;
itTracker[i][sprime.X, sprime.Y] = true;
}
if (cellData[i][sprime.X, sprime.Y].G > cost)
{
cellData[i][sprime.X, sprime.Y].G = cost;
cellData[i][sprime.X, sprime.Y].Parent = vectorOf(s);
if (!closedList[i][sprime.X, sprime.Y])
{
if (isInFringe[i][sprime.X, sprime.Y])
{
fringe[i].Remove(sprime);
}
fringe[i].Push(sprime, Key(vectorOf(sprime), i));
isInFringe[i][sprime.X, sprime.Y] = true;
}
}
}
}
