public List <PathNode> FindPath(int startX, int startY, int endX, int endY)
{
PathNode startNode = pathGrid.GetGridObject(startX, startY);
PathNode endNode = pathGrid.GetGridObject(endX, endY);
openList = new List <PathNode> {
startNode
};
closedList = new List <PathNode>();
for (int x = 0; x < pathGrid.GetWidth(); x++)
{
for (int y = 0; y < pathGrid.GetHeight(); y++)
{
PathNode pathNode = pathGrid.GetGridObject(x, y);
pathNode.gCost = int.MaxValue;
pathNode.CalculateFCost();
pathNode.cameFromNode = null;
}
}
startNode.gCost = 0;
startNode.hCost = CalculateDistanceCost(startNode, endNode);
startNode.CalculateFCost();
while (openList.Count > 0)
{
PathNode currentNode = GetLowestFCost(openList);
if (currentNode == endNode)
{
//End reached
return(CalculatePath(endNode));
}
openList.Remove(currentNode); //current node already searched
closedList.Add(currentNode);
foreach (PathNode neighbourNode in GetNeighbourList(currentNode))
{
if (closedList.Contains(neighbourNode))
{
continue;
}
int tentativeGCost = currentNode.gCost + CalculateDistanceCost(currentNode, neighbourNode);
if (tentativeGCost < neighbourNode.gCost)
{
Debug.DrawLine(pathGrid.GetTilePosition(currentNode.x, currentNode.y) + 0.45f * Vector3.one, pathGrid.GetTilePosition(neighbourNode.x, neighbourNode.y) + 0.45f * Vector3.one, Color.yellow, 200f, false);
neighbourNode.cameFromNode = currentNode;
neighbourNode.gCost = tentativeGCost;
neighbourNode.hCost = CalculateDistanceCost(neighbourNode, endNode);
neighbourNode.CalculateFCost();
if (!openList.Contains(neighbourNode))
{
openList.Add(neighbourNode); // PROBLEM IF MULTIPLE SOLUTIONS???
}
}
}
}
// out of node in the open list
return(null);
}