void FindPath(Vector3 startPosition, Vector3 targetPosition)
{
Node startNode = grid.NodeFromWorldPoint(startPosition);
Node targetNode = grid.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);
if (currentNode == targetNode)
{
RetracePath(startNode, targetNode);
return;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour);
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);
}
}
}
}
}