private void AddOpenNode(Node from, IntVec2 newPoint, IntVec2 finish, Plane2D directPath)
{
Node node = new Node();
node.point = newPoint;
node.steps = from.steps + 1;
node.from = from;
float distanceToDirectPath = 0.001f * Mathf.Abs (directPath.distanceTo (newPoint));
float nodeValue = 100 * (newPoint.SubDistance(finish) + node.steps) + distanceToDirectPath;
Node replacedNode;
if (openNodes.Add(node, nodeValue, out replacedNode))
{
if (replacedNode != null)
{
closedNodes.Add(replacedNode.point);
}
}
else
{
closedNodes.Add(node.point);
}
}
