public List <Node> findPath(Transform zombie)
{
Transform starter = nodefind.NearestPlayerNode(zombie);
Transform ender = nodefind.NearestPlayerNode(player);
Node startNode = starter.gameObject.GetComponent <Node> ();
Node targetNode = ender.gameObject.GetComponent <Node> ();
List <Node> openSet = new List <Node> ();
HashSet <Node> closedSet = new HashSet <Node> ();
List <Node> route = new List <Node> ();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node checker = openSet [0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].fCost < checker.fCost || openSet[i].fCost == checker.fCost)
{
if (openSet[i].hCost < checker.hCost)
{
checker = openSet[i];
}
}
}
openSet.Remove(checker);
closedSet.Add(checker);
if (checker == targetNode)
{
route = RetracePath(startNode, targetNode);
break;
}
foreach (Node neighbour in checker.neighbours)
{
if (closedSet.Contains(neighbour))
{
continue;
}
int newCostToNeighbour = checker.gCost + GetDistance(checker, neighbour);
if (newCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = checker;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
route.Add(targetNode);
return(route);
}