private void FindPath(Vector3 startPosition, Vector3 targetPosition)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Node startNode = aGrid.NodeFromWorldPoint(startPosition);
Node targetNode = aGrid.NodeFromWorldPoint(targetPosition);
List <Node> openSet = new List <Node>();
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].fCost < currentNode.fCost ||
openSet[i].fCost == currentNode.fCost && openSet[i].hCost < currentNode.hCost)
{
currentNode = openSet[i];
}
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
// The target has been found, so exit out of the loop
if (currentNode == targetNode)
{
sw.Stop();
print("Path found: " + sw.ElapsedMilliseconds + " ms");
RetracePath(startNode, targetNode);
return;
}
foreach (Node neighbor in aGrid.GetNeighbors(currentNode))
{
if (!neighbor.walkable || closedSet.Contains(neighbor))
{
continue;
}
int newMovementCostToNeighbor = currentNode.gCost + GetDistance(currentNode, neighbor);
if (newMovementCostToNeighbor < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
neighbor.hCost = GetDistance(neighbor, targetNode);
neighbor.parent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
}
}
}
}
IEnumerator FindPath(Vector3 startPosition, Vector3 targetPosition)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
Node startNode = aGrid.NodeFromWorldPoint(startPosition);
Node targetNode = aGrid.NodeFromWorldPoint(targetPosition);
if (startNode.walkable && targetNode.walkable)
{
Heap <Node> openSet = new Heap <Node>(aGrid.MaxSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
// The target has been found, so exit out of the loop
if (currentNode == targetNode)
{
sw.Stop();
//print("Path found: " + sw.ElapsedMilliseconds + " ms");
pathSuccess = true;
break;
}
foreach (Node neighbor in aGrid.GetNeighbors(currentNode))
{
if (!neighbor.walkable || closedSet.Contains(neighbor))
{
continue;
}
int newMovementCostToNeighbor = currentNode.gCost + GetDistance(currentNode, neighbor)
+ neighbor.movementPenalty;
if (newMovementCostToNeighbor < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
neighbor.hCost = GetDistance(neighbor, targetNode);
neighbor.parent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
else
{
openSet.UpdateItem(neighbor);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
requestManager.FinishedProcessingPath(waypoints, pathSuccess);
pathID++; // FOR DEBUGGING ONLY
}