private System.Collections.IEnumerator ProcessAllEdgesFromCurrent(PathRecord current, Vertex goalVertex)
{
foreach (Edge edge in current.node.edges)
{
PathRecord nextNode;
float nextNodeCostSoFar = current.costSoFar + edge.cost;
float nextNodeHeuristic;
if (closeList.ContainsKey(edge.to))
{
nextNode = closeList[edge.to];
if (nextNode.costSoFar <= nextNodeCostSoFar)
{
continue;
}
nextNodeHeuristic = nextNode.heuristicValue;
closeList.Remove(nextNode.node);
#region Not a part of algorithm, visualization purposes only
gridMarkerController.RemoveMarker(nextNode.node);
#endregion
}
else if (openList.ContainsKey(edge.to))
{
nextNode = openList[edge.to];
if (nextNode.costSoFar <= nextNodeCostSoFar)
{
continue;
}
nextNodeHeuristic = nextNode.heuristicValue;
}
else
{
nextNode = new PathRecord(edge.to);
nextNodeHeuristic = heuristic.Estimate(nextNode.node.pos, goalVertex.pos);
}
nextNode.costSoFar = nextNodeCostSoFar;
nextNode.heuristicValue = nextNodeHeuristic;
nextNode.connection = new PathConnection(edge, current);
if (!openList.ContainsKey(nextNode.node))
{
openList.Add(nextNode.node, nextNode);
#region Not a part of algorithm, visualization purposes only
gridMarkerController.PutOpenNodeMarker(nextNode.node);
#endregion
}
yield return(new WaitForSecondsRealtime(sleepTime));
}
}