/// <summary>
/// Adds a bi-directional edge to this node, weighted evenly.
/// </summary>
/// <param name="other">The other node to share the edge with.</param>
/// <param name="weight">The weight for the edge, default value is 1.</param>
public void addBidirEdge(Node other, float weight = 1)
{
//helps w/diagonal movement.
//float avgPen = (other.edgePenalty + this.edgePenalty) / 2.0f;
//this.addEdge(new Edge(other, weight * avgPen));
//other.addEdge(new Edge(this, weight * avgPen));
this.addEdge(new Edge(other, weight * other.edgePenalty));
other.addEdge(new Edge(this, weight * this.edgePenalty));
}