private void HandleNeighbour(Face neighbour)
{
if (neighbour == null || (neighbour.AreaMask & agentAreaMask) == 0 || closeSet.Contains(neighbour))
{
return;
}
var neighbourCenter = neighbour.CalculateCenter();
float neighbourDistance = Vector3.Distance(currentCenter, neighbourCenter);
float neighbourDistanceCostBonus = (neighbour.Weight * neighbourDistance - neighbourDistance) / 2;
float possibleGCost = current.gCost + neighbourDistance + neighbourDistanceCostBonus;
var neighbourSetElement = openSet.BruteFind((e) => e.face == neighbour);
if (neighbourSetElement == null)
{
openSet.Add(new FaceStarUnit(neighbour, current, possibleGCost, Vector3.Distance(neighbourCenter, endCenter) + neighbourDistanceCostBonus));
}
else if (possibleGCost < neighbourSetElement.gCost)
{
openSet.Remove(neighbourSetElement);
neighbourSetElement.Update(current, possibleGCost, Vector3.Distance(neighbourCenter, endCenter) + neighbourDistanceCostBonus);
openSet.Add(neighbourSetElement);
}
}
