//delete this M6
/*
* void Update(){
* //if(Input.GetKeyDown(KeyCode.K)){
* FindPath (seeker.position, target.position);
* //}
* }
*/
//modify this M6
//void FindPath(Vector2 from, Vector2 to){
Vector2[] FindPath(Vector2 from, Vector2 to)
{
Stopwatch sw = new Stopwatch();
sw.Start();
//add this M6
Vector2[] waypoints = new Vector2[0];
bool pathSuccess = false;
Node startNode = grid.NodeFromWorldPoint(from);
Node targetNode = grid.NodeFromWorldPoint(to);
//add this M6
startNode.parent = startNode;
//add this M6 after class Grid2D
if (!startNode.walkable)
{
startNode = grid.ClosestWalkableNode(startNode);
}
if (!targetNode.walkable)
{
targetNode = grid.ClosestWalkableNode(targetNode);
}
if (startNode.walkable && targetNode.walkable) //-----
//List<Node> openSet = new List<Node>();
{
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();
/*
* 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");
//modify this M6
//RetracePath(startNode, targetNode);
//return;
//to this
pathSuccess = true;
break;
}
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);
}
}
}
}
}
//add this
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
return(waypoints);
} //----