private void AddNeighbours(NodeMeta nodeMeta)
{
foreach (var pathfindingNode in nodeMeta.Node.GetNeighbours())
{
var neighbour = (T)pathfindingNode;
NodeMeta neighNodeMeta = GetFillData(neighbour);
if (!frontier.Contains(neighNodeMeta) && traverser.CanTraverse(neighNodeMeta.Node))
{
neighNodeMeta.GCost = nodeMeta.GCost + traverser.GetTraverseCost(nodeMeta.Node, neighNodeMeta.Node);
frontier.Add(neighNodeMeta);
}
}
}
private void AddToOpen(T node)
{
NodeMeta target = GetNodeMeta(node);
if (traverser.CanTraverse(node) || node == endNode)
{
float gCost = current.GCost + traverser.GetTraverseCost(current.Node, node);
if (!closedList.Contains(target) && !openList.Contains(target))
{
target.Parent = current.Node;
target.HCost = Vector3.Distance(node.Position, endNode.Position);
target.GCost = gCost;
openList.Add(target);
}
else if (target.GCost > gCost)
{
target.Parent = current.Node;
target.GCost = gCost;
}
}
}