// Unity calls this every time the 3D viewport updates or when the mouse moves over the window
private void OnSceneGUI()
{
WayPointMap temp = ( WayPointMap )target;
if (m_Map != temp)
{
SaveWayPointsToCurrentMap( );
m_InspectorWayPoints.Clear( );
m_Map = temp;
ReadWayPointsIntoInspector( );
}
for (int i = 0; i < m_InspectorWayPoints.Count; ++i)
{
PresentWayPointIn3DView(i);
}
m_Map.EditorSetSelected(m_CurrentSelection);
Handles.Label(m_Map.transform.position, "Current Selection = " + m_CurrentSelection);
}
public static List <WayPoint> findPath(Vector3 startPos, Vector3 endPos, WayPointMap wayPointMap)
{
List <pathNode> openList = new List <pathNode>();
List <pathNode> closedList = new List <pathNode>();
List <WayPoint> finalPath = new List <WayPoint>();
WayPoint startWaypoint = wayPointMap.ClosestWaypoint(startPos);
WayPoint endWaypoint = wayPointMap.ClosestWaypoint(endPos);
pathNode chosenNode = null;
pathNode first = new pathNode();
first.Parent = null;
first.Myself = startWaypoint;
first.F = 0.0f;
first.G = 0.0f;
first.H = 0.0f;
openList.Add(first);
while (openList.Count != 0)
{
int indexOfLowestFNode = 0;
for (int i = 0; i < openList.Count; ++i)
{
openList[i].addDigits();
if (openList[i].F < openList[indexOfLowestFNode].F)
{
indexOfLowestFNode = i;
}
}
chosenNode = openList [indexOfLowestFNode];
closedList.Add(chosenNode);
openList.RemoveAt(indexOfLowestFNode);
for (int i = 0; i < openList.Count; ++i)
{
closedList.Add(openList[i]);
}
// END CONDITION
if (chosenNode.Myself == endWaypoint)
{
// reverse the queue and return
while (chosenNode != null)
{
finalPath.Add(chosenNode.Myself);
chosenNode = chosenNode.Parent;
}
return(finalPath);
}
// STANDARD OPERATION
List <WayPoint> connections = chosenNode.Myself.m_Connections;
for (int i = 0; i < connections.Count; ++i)
{
bool connectionAlreadyUsed = false;
for (int j = 0; j < closedList.Count; ++j)
{
if (connections [i] == closedList [j].Myself)
{
connectionAlreadyUsed = true;
break;
}
}
if (connectionAlreadyUsed)
{
continue;
}
pathNode validConnection = new pathNode();
validConnection.Myself = connections [i];
validConnection.Parent = chosenNode;
validConnection.G = (validConnection.Myself.transform.position - chosenNode.Myself.transform.position).magnitude;
validConnection.H = (validConnection.Myself.transform.position - endWaypoint.transform.position).magnitude;
validConnection.addDigits();
openList.Add(validConnection);
}
}
return(finalPath);
}
