public virtual void Open(Path path, IPathHandler pathHandler)
{
NavNode node = Node,
tmpNode;
IPathHandler handler = Handler;
node.GetNeighbor(m_Neighbors);
for (int i = 0; i < m_Neighbors.Count; i++)
{
tmpNode = m_Neighbors[i];
if (tmpNode == null)
{
continue;
}
IPathNode tmpPN = handler.GetPathnode(tmpNode);
int cost = node.GetNeighborCost(i);
if (PathID != tmpPN.PathID)
{
tmpPN.Parent = this;
tmpPN.PathID = PathID;
tmpPN.Cost = cost;
tmpPN.H = path.CalculateHScore(tmpNode);
tmpPN.UpdateG();
handler.Heap.Enqueue(tmpPN, tmpPN.F);
}
else
{
if (g + cost < tmpPN.G)
{
tmpPN.Parent = this;
tmpPN.Cost = cost;
tmpPN.UpdateG();
handler.Heap.Enqueue(tmpPN, tmpPN.F);
}
}
}
}