private void expandBackwardFrontier(Node current, ref Neighbor[] neighbors)
{
current.setClosedB();
var count = GetNeighbors(current, ref neighbors);
for (var i = 0; i < count; i++)
{
var neighbor = neighbors[i].node;
if (neighbor.isClosedB())
{
continue;
}
var tentativeScore = current.costB + neighbors[i].cost;
if (!neighbor.isOpenB())
{
neighbor.setOpenB();
neighbor.costB = tentativeScore;
neighbor.parentB = current;
openB.Add(neighbor, tentativeScore);
updateBackwardFrontier(neighbor, tentativeScore);
}
else if (neighbor.costB > tentativeScore)
{
neighbor.costB = tentativeScore;
neighbor.parentB = current;
openB.Update(neighbor, tentativeScore);
updateBackwardFrontier(neighbor, tentativeScore);
}
}
}
