public void FindPath(PathRequest request, Action <PathResult> callback)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
ANode startNode = grid.GetNodeFromWorldPoint(request.pathStart);
ANode targetNode = grid.GetNodeFromWorldPoint(request.pathEnd);
if (startNode.walkable && targetNode.walkable)
{
List <ANode> openSet = new List <ANode>();
HashSet <ANode> closedSet = new HashSet <ANode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
ANode currentNode = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].fCost < currentNode.fCost || openSet[i].fCost == currentNode.fCost && openSet[i].hCost < currentNode.hCost)
{
currentNode = openSet[i];
}
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
sw.Stop();
print("Path Found : " + sw.ElapsedMilliseconds + " ms");
pathSuccess = true;
break;
}
foreach (ANode neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenalty;
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);
}
}
}
}
}
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
pathSuccess = waypoints.Length > 0;
}
callback(new PathResult(waypoints, pathSuccess, request.callback));
}
