// ノードを展開する
private void OpenNode(Vector2Int bestCoordinates, List <Vector2Int> lockList)
{
Vector2Int[] crossCoordinates =
{
bestCoordinates.AddX(1),
bestCoordinates.AddX(-1),
bestCoordinates.AddY(1),
bestCoordinates.AddY(-1)
};
foreach (var v in crossCoordinates)
{
if (!(v.x >= 0 && v.x < fieldSize.x & v.y >= 0 && v.y < fieldSize.y))
{
continue;
}
if (lockList.Contains(v))
{
continue;
}
var previousScore = nodes[v.x, v.y].GetScore();
var previousMoveCost = nodes[v.x, v.y].MoveCost;
nodes[v.x, v.y].SetMoveCost(nodes[bestCoordinates.x, bestCoordinates.y].MoveCost + 1);
if (openCoordinates.Contains(v))
{
if (nodes[v.x, v.y].GetScore() < previousScore)
{
nodes[v.x, v.y].SetFromCoordinates(bestCoordinates);
}
else
{
nodes[v.x, v.y].SetMoveCost(previousMoveCost);
}
}
else if (closeCoordinates.Contains(v))
{
if (nodes[v.x, v.y].GetScore() < previousScore)
{
closeCoordinates.Remove(v);
openCoordinates.Add(v);
nodes[v.x, v.y].SetFromCoordinates(bestCoordinates);
}
else
{
nodes[v.x, v.y].SetMoveCost(previousMoveCost);
}
}
else
{
nodes[v.x, v.y].SetFromCoordinates(bestCoordinates);
openCoordinates.Add(v);
}
}
openCoordinates.Remove(bestCoordinates);
closeCoordinates.Add(bestCoordinates);
}
