// 노드를 기반으로 선형연결리스트처럼 노드를 이어줌
public IEnumerator SearchPath(Vector3 startPos, Vector3 endPos)
{
yield return(null);
bool isSuccess = false;
m_startNode = m_buildGrid.GetNode(startPos);
m_endNode = m_buildGrid.GetNode(endPos);
if (m_startNode.IsWalkable && m_endNode.IsWalkable)
{
List <ANode> openNode = new List <ANode>();
HashSet <ANode> closeNode = new HashSet <ANode>();
openNode.Add(m_startNode);
while (openNode.Count > 0)
{
ANode current = openNode[0];
for (int i = 1; i < openNode.Count; ++i)
{
if (openNode[i].GetFCost < current.GetFCost || openNode[i].GetFCost == current.GetFCost && openNode[i].HCost < current.HCost)
{
current = openNode[i];
}
}
openNode.Remove(current);
closeNode.Add(current);
if (current == m_endNode)
{
isSuccess = true;
break;
}
foreach (ANode node in m_buildGrid.GetNeighbourNode(current))
{
if (!node.IsWalkable || closeNode.Contains(node))
{
continue;
}
int currentNeighbourCost = current.GCost + GetCost(node, m_endNode);
if (currentNeighbourCost < node.GCost || !openNode.Contains(node))
{
node.GCost = currentNeighbourCost;
node.HCost = GetCost(node, m_endNode);
node.PrevNode = current;
if (!openNode.Contains(node))
{
openNode.Add(node);
}
}
}
}
}
AStarMng.Instance.CompleteProcess(isSuccess ? GetPath(startPos, endPos) : null);
}
