// string, vector3
public Vector3 FindPath(Vector3 startPos, Vector3 targetPos)
{
// Node startNode = grid.NodeFromWorldPoint(startPos);
// Node targetNode = grid.NodeFromWorldPoint(targetPos);
Node startNode = grid.NodeFromTilePoint(startPos);
Node targetNode = grid.NodeFromTilePoint(targetPos);
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].F_value < currentNode.F_value || (openSet[i].F_value == currentNode.F_value && openSet[i].H_value < currentNode.H_value))
{
currentNode = openSet[i];
}
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
// return RetracePath_S(startNode, targetNode);
return(RetracePath_V(startNode, targetNode));
}
foreach (Node neighbour in grid.GetNeighbours(currentNode, FourDir))
{
if (neighbour.Type == Node.tile_type.WALL || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.G_value + GetDistance(currentNode, neighbour);
if (newMovementCostToNeighbour < neighbour.G_value || !openSet.Contains(neighbour))
{
neighbour.G_value = newMovementCostToNeighbour;
neighbour.H_value = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
//return "NONE";
return(startPos);
}
