//public void StartFindReachableArea(Vector3 _startPos, float _range)
//{
// StartCoroutine(FindReachableArea(_startPos, _range));
//}
IEnumerator FindPath(Vector3 startPos, Vector3 endPos)
{
Vector3[] nodePositions = new Vector3[0];
bool pathFound = false;
Node startNode = m_Grid.NodeFromWorldPoint(startPos);
Node endNode = m_Grid.NodeFromWorldPoint(endPos);
if (startNode.m_Passable && endNode.m_Passable)
{
Heap <Node> frontier = new Heap <Node>(m_Grid.NumberOfNodes);
HashSet <Node> explored = new HashSet <Node>();
frontier.AddItem(startNode);
while (frontier.Count > 0)
{
Node node = frontier.FetchFirst();
explored.Add(node);
if (node == endNode)
{
pathFound = true;
break;
}
foreach (Node neighbour in m_Grid.GetNeighbours(node))
{
if (!neighbour.m_Passable || explored.Contains(neighbour))
{
continue;
}
int movementCost = node.m_GCost + GetDistance(node, neighbour) + neighbour.m_MovementPenaly;
if (movementCost < neighbour.m_GCost || !frontier.ContainsItem(neighbour))
{
neighbour.m_GCost = movementCost;
neighbour.m_HCost = GetDistance(neighbour, endNode);
neighbour.m_Parent = node;
if (!frontier.ContainsItem(neighbour))
{
frontier.AddItem(neighbour);
frontier.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathFound)
{
nodePositions = RetracePath(startNode, endNode);
}
m_PathRequestHandler.FinishedSearchingForPath(nodePositions, pathFound);
}
