public void Update()
{
if (timer < 0)
{
Node newClosest = manager.ClosestNodeToPoint(transform.position);
if (newClosest != closestNode)
{
eventToRaise.Raise();
closestNode = newClosest;
}
timer = tickRate;
}
else
{
timer -= Time.deltaTime;
}
}
List <Node> AStar()
{
InitializeAStarDictionary();
AStarNode startNode = nodeToAStarNode[manager.ClosestNodeToPoint(transform.position)];
AStarNode endNode = nodeToAStarNode[manager.ClosestNodeToPoint(target)];
//Set targets for everybody
foreach (Node node in manager.nodeList)
{
nodeToAStarNode[node].SetTarget(endNode);
}
AStarNode currentNode = startNode;
Heap <AStarNode> open = new Heap <AStarNode>(manager.nodeList.Count);
open.Add(currentNode);
bool pathSolved = false;
int safeCounter = 0;
while (open.Count > 0)
{
safeCounter++;
if (safeCounter > 9999)
{
UnityEngine.Debug.LogWarning("Timed out!");
break;
}
//Find the lowest f in open, then set it to current node
currentNode = open.RemoveFirst();
//If current node is end...
if (currentNode == endNode)
{
pathSolved = true;
break;
}
//Loop through neighbors
foreach (Node nodeNeighbor in currentNode.node.GetNeighbors())
{
AStarNode neighbor = nodeToAStarNode[nodeNeighbor];
//If neighbor is already explored... continue
if (neighbor.IsExplored())
{
continue;
}
//Old G cost
float oldG = neighbor.G;
//If neighbor is already in open...
if (open.Contains(neighbor))
{
//And new g cost is less than old g cost...
float newG = Node.Distance(neighbor.node, currentNode.node);
if (newG < oldG)
{
//Make this the new parent
neighbor.SetParent(currentNode); //This sets parent and sets g value
open.UpdateItem(neighbor);
}
}
else //otherwise
//Set this to parent and add neighbor to open
{
neighbor.SetParent(currentNode);
open.Add(neighbor);
}
}
//Explores current node
currentNode.CloseNode();
}
if (pathSolved)
{
List <Node> path = new List <Node>();
AStarNode n = currentNode;
while (n != startNode)
{
path.Add(n.node);
n = n.GetParent();
}
path.Reverse();
return(path);
}
return(null);
}
private void Start()
{
manager = PathfindingNodeManager.INSTANCE;
closestNode = manager.ClosestNodeToPoint(transform.position);
}