private void UpdateVisual()
{
MeshUtils.CreateEmptyMeshArrays(m_grid.GetWidth() * m_grid.GetHeight(),
out Vector3[] vertices, out Vector2[] uv, out int[] triangles);
public List <PathNode> FindPath(int startX, int startY, int endX, int endY)
{
PathNode startNode = m_grid.GetGridObject(startX, startY);
PathNode endNode = m_grid.GetGridObject(endX, endY);
if (startNode == null || endNode == null)
{
return(null); // Invalid path
}
m_openList = new List <PathNode> {
startNode
};
m_closeList = new List <PathNode>();
for (int x = 0; x < m_grid.GetWidth(); x++)
{
for (int y = 0; y < m_grid.GetHeight(); y++)
{
PathNode pathNode = m_grid.GetGridObject(x, y);
pathNode.SetGCost(int.MaxValue);
pathNode.CalculateFCost();
pathNode.SetPreviousNode(null);
}
}
startNode.SetGCost(0);
startNode.SetHCost(CalculateDistanceCost(startNode, endNode));
startNode.CalculateFCost();
while (m_openList.Count > 0)
{
PathNode currentNode = GetLowestFCostNode(m_openList);
// Reached final node
if (currentNode == endNode)
{
return(CalculatePath(endNode));
}
m_openList.Remove(currentNode);
m_closeList.Add(currentNode);
foreach (PathNode neighbouringNode in GetNeighbourList(currentNode))
{
if (m_closeList.Contains(neighbouringNode))
{
continue;
}
if (!neighbouringNode.isWalkable)
{
m_closeList.Add(neighbouringNode);
continue;
}
int tentativeGCost = currentNode.GetGCost() + CalculateDistanceCost(currentNode, neighbouringNode);
if (tentativeGCost < neighbouringNode.GetGCost())
{
neighbouringNode.SetPreviousNode(currentNode);
neighbouringNode.SetGCost(tentativeGCost);
neighbouringNode.SetHCost(CalculateDistanceCost(neighbouringNode, endNode));
neighbouringNode.CalculateFCost();
if (!m_openList.Contains(neighbouringNode))
{
m_openList.Add(neighbouringNode);
}
}
}
}
// Ran out of nodes on the m_openList
return(null);
}