public void FindPath(PathRequest request, Action <PathResult> callback)
{
Vector3[] wayPoints = new Vector3[0];
bool pathSuccess = false;
Node startNode = gridPath.NodeFromWorldPoint(request.pathStart);
Node targetNode = gridPath.NodeFromWorldPoint(request.pathEnd);
if (startNode.walkable && targetNode.walkable)
{
Heap <Node> openSet = new Heap <Node>(gridPath.MaxSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
pathSuccess = true;
break;
}
foreach (Edge edge in gridPath.GetNeighbors(currentNode))
{
Node neighbor = edge.nodeB;
if (!neighbor.walkable || closedSet.Contains(neighbor))
{
continue;
}
int airWeight = 0;
if (!gridPath.IsNodeGround(edge.nodeB))
{
airWeight = 4;
}
int newMovementCost = currentNode.gCost + GetDistance(currentNode, neighbor) + (int)edge.weight + airWeight;
if (newMovementCost < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMovementCost;
neighbor.hCost = GetDistance(neighbor, targetNode);
neighbor.parent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
else
{
openSet.UpdateItem(neighbor);
}
}
}
}
}
if (pathSuccess)
{
wayPoints = RetracePath(startNode, targetNode);
pathSuccess = wayPoints.Length > 0;
}
callback(new PathResult(wayPoints, pathSuccess, request.controller, request.callback));
}