private void expandForwardFrontier(Node current, ref Neighbor[] neighbors)
{
current.setClosedA();
var count = GetNeighbors(current, ref neighbors);
for (var i = 0; i < count; i++)
{
var neighbor = neighbors[i].node;
if (neighbor.isClosedA())
{
continue;
}
var tentativeScore = current.costA + neighbors[i].cost;
if (!neighbor.isOpenA())
{
neighbor.setOpenA();
neighbor.costA = tentativeScore;
neighbor.parentA = current;
openA.Add(neighbor, tentativeScore);
updateForwardFrontier(neighbor, tentativeScore);
}
else if (neighbor.costA > tentativeScore)
{
neighbor.costA = tentativeScore;
neighbor.parentA = current;
openA.Update(neighbor, tentativeScore);
updateForwardFrontier(neighbor, tentativeScore);
}
}
}
