private void AddToOpenList(NavigationNode _node, NavigationNode _parent, int _parentStartCost, NavigationNode _goalNode)
{
//first, calculate estimated distance from goal in 'steps'.
float distance = Vector3.Distance(_node.WorldPosition, _goalNode.WorldPosition);
//add the node plus it's accompanying info into the dictionary.
OpenNodeInformation info = new OpenNodeInformation(_node, _parent, _parentStartCost);
info.EstimatedDestinationCost = distance;
m_openNodeList.Add(_node, info);
}
private NavigationNode SelectBestOpenCandidate()
{
//iterate through the current open node list.
NavigationNode bestNode = null;
int currentBestScore = Int32.MaxValue; //arbitrarily high.
foreach (NavigationNode node in m_openNodeList.Keys)
{
if (m_closedNodeList.Contains(node))
{
continue;
}
OpenNodeInformation info = m_openNodeList[node];
int nodeScore = info.StartCost + (int)info.EstimatedDestinationCost;
nodeScore += (int)node.Cost;
if (nodeScore < currentBestScore)
{
bestNode = node;
currentBestScore = nodeScore;
}
}
return(bestNode);
}