void AddNodesToFrontier(int x, int y)
{
if (x >= 0 && x < gridWidth &&
y >= 0 && y < gridHeight)
{
Vector3 next = new Vector3(x, y);
float new_cost = costSoFar[current] + gridScript.GetMovementCost(pos[x, y]);
if (!costSoFar.ContainsKey(next) || new_cost < costSoFar[next])
{
costSoFar[next] = new_cost;
float priority = new_cost + hueristic.Hueristic(x, y, start, goal, gridScript);
frontier.Enqueue(next, priority);
cameFrom[next] = current;
}
}
}
private void AddNodesToFrontier(int x, int y) //this is important to understand heuristics
{
if (x < 0 || x >= _gridWidth || y < 0 || y >= _gridHeight)
{
return;
}
var next = new Vector3(x, y);
var new_cost = _costSoFar[_current] + gridScript.GetMovementCost(_pos[x, y]);
if (_costSoFar.ContainsKey(next) && (new_cost >= _costSoFar[next]))
{
return; // check in all the added nodes, who has the least cost, this is complex
}
_costSoFar[next] = new_cost; //store value
var priority = new_cost + hueristic.Hueristic(x, y, _start, _goal, gridScript); //the heuristics is the step next to next step, it's like an adjustment/weight to future moves
_frontier.Enqueue(next, priority);
_cameFrom[next] = _current;
}
private void AddNodesToFrontier(int x, int y)
{
if (x < 0 || x >= _gridWidth || y < 0 || y >= _gridHeight)
{
return;
}
var next = new Vector3(x, y);
var new_cost = _costSoFar[_current] + gridScript.GetMovementCost(_pos[x, y]);
if (_costSoFar.ContainsKey(next) && !(new_cost < _costSoFar[next]))
{
return;
}
_costSoFar[next] = new_cost;
var priority = new_cost + hueristic.Hueristic(x, y, _start, _goal, gridScript);
_frontier.Enqueue(next, priority);
_cameFrom[next] = _current;
}