public List <PathfindingNode> FindTarget(Vector2 startPos, Vector2 endPos)
{
if (grid.GetGridObject(endPos) == null)
{
return(null);
}
PathfindingNode startNode = grid.GetGridObject(startPos);
PathfindingNode endNode = grid.GetGridObject(endPos);
openNodes = new List <PathfindingNode> {
startNode
};
closedNodes = new List <PathfindingNode>();
for (int i = 0; i < grid.GetGridWidth(); i++)
{
for (int j = 0; j < grid.GetGridHeight(); j++)
{
PathfindingNode node = grid.GetGridObject(i, j);
node.gCost = int.MaxValue;
node.CalculateFCost();
node.parentNode = null;
}
}
startNode.gCost = 0;
startNode.hCost = GetDistanceValue(startNode, endNode);
startNode.CalculateFCost();
while (openNodes.Count > 0)
{
PathfindingNode currentNode = GetLowestValueNode(openNodes);
if (currentNode == endNode)
{
return(CalculateFinalPath(endNode));
}
openNodes.Remove(currentNode);
closedNodes.Add(currentNode);
foreach (PathfindingNode neighbor in FindNeighbor(currentNode))
{
if (closedNodes.Contains(neighbor))
{
continue;
}
if (!neighbor.isWalkable)
{
closedNodes.Add(neighbor);
/*
* for(int i = -2; i < 3; i++)
* {
* for(int j = -2; j < 3; j++)
* {
* closedNodes.Add(grid.GetGridObject(neighbor.GetX() + i, neighbor.GetY() + j));
* }
* }
*/
continue;
}
int newGCost = currentNode.gCost + GetDistanceValue(currentNode, neighbor);
if (newGCost < neighbor.gCost)
{
neighbor.parentNode = currentNode;
neighbor.gCost = newGCost;
neighbor.hCost = GetDistanceValue(currentNode, endNode);
neighbor.CalculateFCost();
}
if (!openNodes.Contains(neighbor))
{
openNodes.Add(neighbor);
}
}
}
return(null);
}
