void ExpandFrontierAStar(TileNode node)
{
if (node == null)
{
return;
}
for (int i = 0; i < node.neighbors.Length; i++)
{
if (node.neighbors[i] != null && !mazeGraph.exploredNodes.Contains(node.neighbors[i]))
{
float distanceToNeighbor = mazeGraph.GetManhattanDistance(node, node.neighbors[i]);
float newDistanceTraveled = distanceToNeighbor + node.distanceTraveled;
if (float.IsPositiveInfinity(node.neighbors[i].distanceTraveled) || newDistanceTraveled < node.neighbors[i].distanceTraveled)
{
node.neighbors[i].previousNode = node;
node.neighbors[i].distanceTraveled = newDistanceTraveled;
}
if (!mazeGraph.frontierNodes.Contains(node.neighbors[i]))
{
float hScore = mazeGraph.GetManhattanDistance(node.neighbors[i], mazeGraph.goalNode); //Distance to goal
float gScore = node.neighbors[i].distanceTraveled; //Distance to start
float fScore = gScore + hScore;
node.neighbors[i].priority = fScore;
mazeGraph.frontierNodes.Enqueue(node.neighbors[i]);
}
}
}
}
