When I said "all open", I meant that none of the constraints were included in the graph I started with. All paths between the two endpoints are equally valid. I

When I said "all open", I meant that none of the constraints were included in the graph I started with. All paths between the two endpoints are equally valid. I wanted then, to find paths that didn't overlap with other connectors, that didn't go too close to other objects and didn't turn too much. These, I modeled by adjusting the heuristics so that such paths are penalised. I see your point. The penalties right now are "big" but only when compared to the values of g at the beginning. As it moves forward, even the big penalties will be swamped by the g and hence, the heuristics will be ignored. I'm not sure about how else to model this though.