public void FindPath(Vector2 startPos, Vector2 tarPos)
{
Node StartNode = grid.NodeFromWorldPosition(startPos);
Node TargetNode = grid.NodeFromWorldPosition(tarPos);
List <Node> OpenList = new List <Node>();
HashSet <Node> ClosedList = new HashSet <Node>();
OpenList.Add(StartNode);
while (OpenList.Count > 0)
{
Node CurrentNode = OpenList[0];
for (int i = 1; i < OpenList.Count; i++)
{
if (OpenList[i].FCost < CurrentNode.FCost || OpenList[i].FCost == CurrentNode.FCost && OpenList[i].hCost < CurrentNode.hCost)
{
CurrentNode = OpenList[i];
}
}
OpenList.Remove(CurrentNode);
ClosedList.Add(CurrentNode);
if (CurrentNode == TargetNode)
{
GetFinalPath(StartNode, TargetNode);
}
foreach (Node NeighborNode in grid.GetNeighboringNodes(CurrentNode))
{
if (!NeighborNode.IsWall || ClosedList.Contains(NeighborNode))
{
continue;
}
int MoveCost = CurrentNode.gCost + GetManhattenDistance(CurrentNode, NeighborNode);
if (MoveCost < NeighborNode.gCost || !OpenList.Contains(NeighborNode))
{
NeighborNode.gCost = MoveCost;
NeighborNode.hCost = GetManhattenDistance(NeighborNode, TargetNode);
NeighborNode.Parent = CurrentNode;
if (!OpenList.Contains(NeighborNode))
{
OpenList.Add(NeighborNode);
}
}
}
}
}
public bool FindPath(Vector3 startWorldPoint, Vector3 endWorldPoint, ref List <Vector3> path, bool local)
{
PathfindingNode startNode = m_Grid.GetNodeFromWorldPoint(startWorldPoint);
if (startNode == null)
{
return(false);
}
PathfindingNode targetNode = m_Grid.GetNodeFromWorldPoint(endWorldPoint);
if (targetNode == null)
{
return(false);
}
if (startNode == targetNode)
{
return(false);
}
// List of nodes for the open list.
List <PathfindingNode> openList = new List <PathfindingNode>();
// List of nodes for the closed list.
HashSet <PathfindingNode> closedList = new HashSet <PathfindingNode>();
openList.Add(startNode);
while (openList.Count > 0)
{
PathfindingNode currentNode = openList[0];
for (int i = 1; i < openList.Count; ++i)
{
if (openList[i].fCost < currentNode.fCost || openList[i].fCost == currentNode.fCost && openList[i].hCost < currentNode.hCost)
{
currentNode = openList[i];
}
}
openList.Remove(currentNode);
closedList.Add(currentNode);
if (currentNode == targetNode)
{
path = GetFinalPath(startNode, targetNode, local);
return(true);
}
foreach (PathfindingNode neighborNode in m_Grid.GetNeighboringNodes(currentNode))
{
if (neighborNode.isObstacle || closedList.Contains(neighborNode))
{
continue;
}
int moveCost = currentNode.gCost + GetManhattenDistance(currentNode, neighborNode);
if (moveCost < neighborNode.gCost || !openList.Contains(neighborNode))
{
neighborNode.gCost = moveCost;
neighborNode.hCost = GetManhattenDistance(neighborNode, targetNode);
neighborNode.parentNode = currentNode;
if (!openList.Contains(neighborNode))
{
openList.Add(neighborNode);
}
}
}
}
return(false);
}