IEnumerator FindPath(Vector3 beginPos, Vector3 targetPos)
{
Node startNode = grid.GetNodeFromWorldPoint(beginPos);
Node endNode = grid.GetNodeFromWorldPoint(targetPos);
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
if (startNode.walkable && endNode.walkable && startNode != endNode)
{
Heap <Node> openSet = new Heap <Node>(grid.NodesInGrid);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == endNode)
{
pathSuccess = true;
break;
}
foreach (Node neighbour in grid.GetNeighboursOfNode(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int costToNeighbour = currentNode.gCost + grid.GetDistanceBetweenNodes(currentNode, neighbour);
if (costToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = costToNeighbour;
neighbour.hCost = grid.GetDistanceBetweenNodes(neighbour, endNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, endNode);
}
requestManager.FinishedProcessingPath(waypoints, pathSuccess);
}
