IEnumerator FindingPath(Vector3 startPos, Vector3 targetPos, float jumpHieght) { Stopwatch sw = new Stopwatch(); sw.Start(); Vector3[] wayPoints = new Vector3[0]; bool pathFound = false; Node startNode = grid.NodeFromWorldPoint(startPos); Node targetNode = grid.NodeFromWorldPoint(targetPos); if (startNode.walkable && targetNode.walkable) { Heap <Node> openSet = new Heap <Node>(grid.MaxSize); HashSet <Node> closedSet = new HashSet <Node>(); openSet.Add(startNode); while (openSet.Count > 0) { Node currentNode = openSet.RemoveFirst(); closedSet.Add(currentNode); if (currentNode == targetNode) { sw.Stop(); pathFound = true; break; } foreach (Node neighbour in grid.GetNeighbours(currentNode)) { if (!neighbour.walkable || closedSet.Contains(neighbour)) { continue; } int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenalty; //+ HieghtPenalty(neighbour, startPos, jumpHieght); 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); } else { openSet.UpdateItem(neighbour); } } } } } yield return(null); if (pathFound) { wayPoints = RetracePath(startNode, targetNode); } requestManager.FinishedPathFinding(wayPoints, pathFound); }