private void PerformStep()
{
if (openSet.Count == 0)
{
SetStateToFinished();
return;
}
currentNode = openSet.Pop();
if (IsPathFound(currentNode))
{
HandleFoundPath(currentNode);
SetStateToFinished();
return;
}
List <Node> successors = GetSuccessors(currentNode, DiagonalsEnabled);
foreach (Node successor in successors)
{
successor.MovementCost = currentNode.MovementCost + MovementCost(successor, currentNode);
successor.Parent = currentNode;
openSet.Add(successor);
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
}
