public void FindPath(PathRequest request, Action <PathResult> callBack)
{
lock (this)
{
Vector3[] wayPoints = new Vector3[0];
bool pathSuccess = false;
Node startNode = grid.NodeFromWorldPoint(request.PathStart);
Node targetNode = grid.NodeFromWorldPoint(request.PathEnd);
if (targetNode.walkable)
{
Heap <Node> openSet = new Heap <Node>(grid.GetMaxGridSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
pathSuccess = true;
break;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenalty;
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
if (pathSuccess)
{
wayPoints = RetracePath(startNode, targetNode);
pathSuccess = wayPoints.Length > 0;
}
callBack(new PathResult(wayPoints, pathSuccess, request.CallBack));
}
}