public void FindPath(PathRequest request, Action <PathResult> callback)
{
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
Node startNode = grid.NodeFromWorldPoint(request.pathStart);
Node targetNode = grid.NodeFromWorldPoint(request.pathEnd);
startNode.parent = startNode; // NEW!!!!!
//if (startNode == null || targetNode == null) Debug.LogWarning("Node does not exist");
Heap <Node> openSet = new Heap <Node>(grid.MaxSize); // Set to be evaluated
HashSet <Node> closedSet = new HashSet <Node>(); // Set already evaluated
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node current = openSet.RemoveFirst();
closedSet.Add(current);
if (current == targetNode)
{
pathSuccess = true;
break; // We finish
}
List <Node> neighbours = grid.GetNeighbours(current);
foreach (Node neighbour in neighbours)
{
if (closedSet.Contains(neighbour))
{
continue;
}
// If new path to neighbour is shorter OR neighbour not in openSet
int newDist = current.gCost + GetDistance(current, neighbour);
if (newDist < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newDist;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = current;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour); // NEW!!!!!
}
}
}
}
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
pathSuccess = waypoints.Length > 0;
}
callback(new PathResult(waypoints, pathSuccess, request.callback));
}
void FindPath(Vector3 startPos, Vector3 targetPos)
{
Node startNode = grid.NodeFromWorldPoint(startPos);
Node targetNode = grid.NodeFromWorldPoint(targetPos);
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)
{
RetracePath(startNode, targetNode);
return;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour);
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);
}
}
}
}
}
IEnumerator FindPath(Vector3 _start, Vector3 _end)
{
//if they're on the same node, then return the nodes position
Vector3[] path = new Vector3[0];
bool pathSuccess = false;
PathNode start = tileGrid.GetTileAtPos(_start).GetComponent <PathNode>();
PathNode target = tileGrid.GetTileAtPos(_end).GetComponent <PathNode>();
if (!start || !target)
{
yield return(null);
}
if (start != target)
{
//list of open and closed nodes
openNodes = new Heap <PathNode>(tileGrid.xSize * tileGrid.ySize);
closedNodes = new HashSet <PathNode>();
openNodes.Add(start);
int x = 0;
while (openNodes.Count > 0)
{
currentNode = openNodes.RemoveFirst();
closedNodes.Add(currentNode);
if (currentNode == target)
{
pathSuccess = true;
break;
}
foreach (PathNode n in tileGrid.GetNeighbours(currentNode))
{
if (closedNodes.Contains(n))
{
continue;
}
if (!n.walkable)
{
continue;
}
int f = currentNode.g + GetDistance(currentNode, n) + n.weight;
if (f < n.g || !openNodes.Contains(n))
{
n.g = f;
n.h = GetDistance(n, target);
n.ParentNode = currentNode;
if (!openNodes.Contains(n))
{
openNodes.Add(n);
}
}
x++;
}
if (closedNodes.Count >= maxSize - 1)
{
currentNode = null;
break;
}
}
}
yield return(null);
if (pathSuccess)
{
path = RetracePath(start, target);
}
requestManager.FinishedProcessing(path, pathSuccess);
}