public IEnumerator FindPath(Vector3 startPos, Vector3 targetPos)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSucces = false;
Node startNode = grids.nodeWorldPos(startPos);
Node targetNode = grids.nodeWorldPos(targetPos);
if (startNode.canWalk && targetNode.canWalk)
{
HeapOpt <Node> openSet = new HeapOpt <Node>(grids.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();
print("Path Found" + sw.ElapsedMilliseconds + "ms");
pathSucces = true;
break;
}
foreach (Node getNodes in grids.GetNodes(currentNode))
{
if (!getNodes.canWalk || closedSet.Contains(getNodes))
{
continue;
}
int newMovementCostToNode = currentNode.gCost + getDist(currentNode, getNodes);
if (newMovementCostToNode < getNodes.gCost || !openSet.Contains(getNodes))
{
getNodes.gCost = newMovementCostToNode;
getNodes.hCost = getDist(getNodes, targetNode);
getNodes.parent = currentNode;
if (!openSet.Contains(getNodes))
{
openSet.Add(getNodes);
}
else
{
openSet.UpdateItem(getNodes);
}
}
}
}
yield return(null);
if (pathSucces)
{
waypoints = RetracePath(startNode, targetNode);
}
requestManager.FinishedProccesingPath(waypoints, pathSucces);
}
}