public void UpdateUnvisitedNeighbors(Node node, Node finishNode, List <List <Node> > grid)
{
SimplePriorityQueue <Node> unvisitedNeighbors = GetUnvisitedNeighbors(node, grid);
foreach (Node neighbor in unvisitedNeighbors)
{
neighbor.GFunction = node.GFunction + 1 + neighbor.Weight;
neighbor.PreviousNode = node;
neighbor.HFunction = CalculateHFunction(neighbor, finishNode);
int fFunction = neighbor.GFunction + neighbor.HFunction;
if (OpenSet.Contains(neighbor))
{
if (fFunction < OpenSet.GetPriority(neighbor))
{
OpenSet.UpdatePriority(neighbor, fFunction);
}
}
else
{
OpenSet.Enqueue(neighbor, fFunction);
}
}
}
