public List <PathNode> FindPath(int startX, int startZ, int endX, int endZ)
{
PathNode startNode = grid.GetGridObject(startX, startZ);
PathNode endNode = grid.GetGridObject(endX, endZ);
openList = new List <PathNode> {
startNode
};
closedList = new List <PathNode>();
for (int x = 0; x < grid.GetWidth(); x++)
{
for (int z = 0; z < grid.GetHeight(); z++)
{
PathNode pathNode = grid.GetGridObject(x, z);
pathNode.gCost = int.MaxValue;
pathNode.CalculateFCost();
pathNode.previousNode = null;
}
}
startNode.gCost = 0;
startNode.hCost = CalculateDistance(startNode, endNode);
startNode.CalculateFCost();
while (openList.Count > 0)
{
PathNode currentNode = GetLowestFCostNode(openList);
if (currentNode == endNode)
{
//Reached final node
return(CalculatePath(endNode));
}
openList.Remove(currentNode);
closedList.Add(currentNode);
foreach (PathNode neighbourNode in GetNeighbourList(currentNode))
{
if (closedList.Contains(neighbourNode))
{
continue;
}
if (!neighbourNode.isWalkable)
{
closedList.Add(neighbourNode);
continue;
}
int tentativeGCost = currentNode.gCost + CalculateDistance(currentNode, neighbourNode);
if (tentativeGCost < neighbourNode.gCost)
{
neighbourNode.previousNode = currentNode;
neighbourNode.gCost = tentativeGCost;
neighbourNode.hCost = CalculateDistance(neighbourNode, endNode);
neighbourNode.CalculateFCost();
if (!openList.Contains(neighbourNode))
{
openList.Add(neighbourNode);
}
}
}
}
//Out of Nodes on the openList
Debug.LogError("No path found");
return(null);
}