/// <summary>
/// Starts the A* path finder which tries to find the shortest path from
/// <c>startPosition</c> to <c>endPosition</c>. Returns immediately.
/// </summary>
public void Start(Vector3 startPosition, Vector3 endPosition)
{
if (IsRunning)
{
Debug.LogError("Path finder thread already running.");
return;
}
// Create nodes for the start and end position
_startNode = new AStarNode(startPosition);
_endNode = new AStarNode(endPosition);
// Add start and end nodes into the visibility graph
_visibilityGraph.Add(_startNode);
_visibilityGraph.Add(_endNode);
// Start searching for a path in a separate thread
_thread = new Thread(FindPath);
_thread.Start();
IsRunning = true;
}