public Vector2[] FindPath(Vector2 from, Vector2 to, SAP2DPathfindingConfig config)
{
SAP_GridSource grid = GetGrid(config.GridIndex);
SAP_TileData startTile = grid.GetTileDataAtWorldPosition(from);
SAP_TileData targetTile = grid.GetTileDataAtWorldPosition(to);
SAP_TileData currentTile = startTile;
if (targetTile.isWalkable == false)
{
return(null);
}
List <SAP_TileData> openList = new List <SAP_TileData>();
List <SAP_TileData> closedList = new List <SAP_TileData>();
while (closedList.Contains(targetTile) == false)
{
List <SAP_TileData> neighbors = grid.GetNeighborTiles(currentTile, config.CutCorners);
foreach (SAP_TileData neighbor in neighbors)
{
if (neighbor.isWalkable == false || closedList.Contains(neighbor) == true)
{
continue;
}
if (openList.Contains(neighbor) == true)
{
SAP_TileData oldParent = neighbor.ParentTile;
int oldG = neighbor.G;
neighbor.SetParentTile(currentTile, targetTile);
if (neighbor.G >= oldG)
{
neighbor.SetParentTile(oldParent, targetTile);
}
}
else
{
neighbor.SetParentTile(currentTile, targetTile);
openList.Add(neighbor);
}
}
openList.Remove(currentTile);
closedList.Add(currentTile);
currentTile = FindNextTile(openList);
if (currentTile == null)
{
Debug.LogError("Path not found");
return(null);
}
}
return(PathRecovery(startTile, targetTile));
}
private void Reset()
{
Config = Resources.Load("Main/Configs/Default") as SAP2DPathfindingConfig;
}