IEnumerator FindPath(Vector3 startPos, Vector3 targetPos)
{
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
Node startNode = grid.NodeFromWorldPoint(startPos);
Node targetNode = grid.NodeFromWorldPoint(targetPos);
if (startNode.walkable && targetNode.walkable) //If we can actually get the the target node
{
Heap <Node> openSet = new Heap <Node>(grid.MaxSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode); //Add the first node
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode) //Are we here?
{
pathSuccess = true; //yes
break;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode)) //For every neighbour to our node
{
if (!neighbour.walkable || closedSet.Contains(neighbour)) //If the neighbour is walkable or we've already looked at it
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistanceCost(currentNode, neighbour); //Get the cost
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour)) //If this new cost is shorter or the neighbour isnt in the openset
{
neighbour.gCost = newMovementCostToNeighbour; //Set the gCost
neighbour.hCost = GetDistanceCost(neighbour, targetNode); //Heauristic
neighbour.parent = currentNode; //Set the tree/path
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
requestManager.FinishedProcessingPath(waypoints, pathSuccess);
}
IEnumerator FindPath(Vector3 startPosition, Vector3 targetPosition)
{
Stopwatch stopWatch = new Stopwatch();
stopWatch.Start();
Vector3[] wayPoints = new Vector3[0];
bool pathSucces = false;
Node startNode = grid.NodeFromWorldPoint(startPosition);
Node targetNode = grid.NodeFromWorldPoint(targetPosition);
if (startNode.walkable && targetNode.walkable)
{
Heap <Node> openSet = new Heap <Node>(grid.MaxSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
stopWatch.Stop();
UnityEngine.Debug.Log("Path found in " + stopWatch.ElapsedMilliseconds + "ms.");
pathSucces = true;
break;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode))
{
if (/*!neighbour.walkable ||*/ closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenalty;
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
// Calculate corner
if (neighbour.gridX != currentNode.gridX && neighbour.gridY != currentNode.gridY)
{
UnityEngine.Debug.Log("Checking node: " + neighbour.worldPosition.ToString() + " | " + currentNode.worldPosition.ToString());
int gridX = neighbour.gridX + (neighbour.gridX > currentNode.gridX ? -1 : 1);
int gridY = neighbour.gridY + (neighbour.gridY > currentNode.gridY ? -1 : 1);
Node nodeA = grid.GetNode(gridX, currentNode.gridY);
Node nodeB = grid.GetNode(currentNode.gridX, gridY);
if (!nodeA.walkable || !nodeB.walkable)
{
continue;
}
}
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathSucces)
{
wayPoints = RetracePath(startNode, targetNode);
}
pathfindingManager.FinishedProcessingPath(wayPoints, pathSucces);
}
