Programming Game AI by Example

//now to test all the edges attached to this node

graph_type::ConstEdgeIterator ConstEdgeItr(m_Graph, NextClosestNode);

for (const Edge* pE=ConstEdgeItr.begin();

!ConstEdgeItr.end();

pE=ConstEdgeItr.next())

{

//calculate the heuristic cost from this node to the target (H)

double HCost = heuristic::Calculate(m_Graph, m_iTarget, pE->To());

//calculate the "real" cost to this node from the source (G)

double GCost = m_GCosts[NextClosestNode] + pE->Cost();

//if the node has not been added to the frontier, add it and update

//the G and F costs

if (m_SearchFrontier[pE->To()] == NULL)

{

m_FCosts[pE->T()] = GCost + HCost;

m_GCosts[pE->To()] = GCost;

pq.insert(pE->To()); ...