public bool FindPath(Vector3 _startPosition, Vector3 _targetPosition)
{
// rount target position to int
_targetPosition.x = Mathf.RoundToInt(_targetPosition.x);
_targetPosition.y = Mathf.RoundToInt(_targetPosition.y);
// set ship's position offset
_startPosition -= ship.transform.position;
_targetPosition -= ship.transform.position;
Node startNode = grid.NodeFromWorldPosition(_startPosition);
Node targetNode = grid.NodeFromWorldPosition(_targetPosition);
Heap <Node> OpenList = new Heap <Node>(grid.MaxSize);
HashSet <Node> ClosedList = new HashSet <Node>();
OpenList.Add(startNode);
while (OpenList.Count > 0)
{
Node currentNode = OpenList.RemoveFirst();
ClosedList.Add(currentNode);
if (currentNode == targetNode)
{
GetFinalPath(startNode, targetNode);
break;
}
foreach (Node neighbourNode in grid.GetNeighbourNodes(currentNode))
{
if (!neighbourNode.isWalkable || ClosedList.Contains(neighbourNode))
{
continue;
}
int moveCost = currentNode.gCost + GetManhattanDistance(currentNode, neighbourNode);
if (moveCost < neighbourNode.gCost || !OpenList.Contains(neighbourNode))
{
neighbourNode.gCost = moveCost;
neighbourNode.hCost = GetManhattanDistance(neighbourNode, targetNode);
neighbourNode.Parent = currentNode;
if (!OpenList.Contains(neighbourNode))
{
OpenList.Add(neighbourNode);
}
}
}
}
return(targetNode.isWalkable ? true : false);
}
private void CalculateImpassable()
{
bool isPreviousWall = false;
bool isAfterWall = false;
Vector3 wallStartPos = Vector3.zero;
Vector3 wallEndPos = Vector3.zero;
Vector3 currentPos;
currentPos = startingPos;
for (int i = 0; i < grid.GetGridSizeY; i++)
{
List <Vector3> rowTiles = new List <Vector3>();
for (int j = 0; j < grid.GetGridSizeX; j++)
{
if (isPreviousWall && !isAfterWall)
{
if (grid.NodeFromWorldPosition(currentPos).isWalkable)
{
wallStartPos = currentPos;
rowTiles.Add(currentPos);
isAfterWall = true;
isPreviousWall = false;
}
}
else if (isAfterWall)
{
if (grid.NodeFromWorldPosition(currentPos).isWalkable)
{
rowTiles.Add(currentPos);
}
else
{
// run through the entirety of its X axis' Y axis to check for walls. if it finds walls on both extremeties then the tile is within walls.
foreach (Vector3 tilePosition in rowTiles)
{
for (int k = (int)tilePosition.y; k < (grid.GetGridSizeY - k); k++)
{
if (!grid.NodeFromWorldPosition(new Vector3(tilePosition.x, k, tilePosition.z)).isWalkable)
{
for (int l = (int)tilePosition.y; l > (-grid.GetGridSizeY - l); l--)
{
if (!grid.NodeFromWorldPosition(new Vector3(tilePosition.x, l, tilePosition.z)).isWalkable)
{
tilesPos.Add(tilePosition);
}
}
}
}
}
isAfterWall = false;
isPreviousWall = true;
}
}
else
{
if (grid.NodeFromWorldPosition(currentPos).isWalkable)
{
isPreviousWall = false;
}
else
{
isPreviousWall = true;
}
}
currentPos = new Vector3(
currentPos.x + 1f,
currentPos.y,
currentPos.z
);
}
isPreviousWall = false;
isAfterWall = false;
wallStartPos = Vector3.zero;
wallEndPos = Vector3.zero;
currentPos = new Vector3(
startingPos.x,
currentPos.y - 1f,
startingPos.z
);
}
}
