public void FindPath()
{
WasMoved = true;
_findCount++;
if (CurrentPath != null)
{
_pathIndex = 1;
CurrentPath.Clear();
}
Vector2 cellPos = SnapToHexNode();
transform.position = cellPos;
Destination = cellPos;
HexagonNode node = new HexagonNode(cellPos.x, cellPos.y);
ShortestPathToZero startPath = new ShortestPathToZero(node, HexagonMapGenerator.Instance.MoveCost, node.Magnitude, null);
_closeList.AddRange(HexagonMapGenerator.Instance.GetObstaclesByAdjacentNode(cellPos));
_closeList.Add(cellPos);
CurrentPath = HexagonMapGenerator.Instance.FindPath(startPath, _openList, _closeList);
_closeList.Clear();
_openList.Clear();
if (CurrentPath.Count > 1)
{
Destination = CurrentPath[_pathIndex];
}
}
public List <Vector2> FindPath(
ShortestPathToZero currentPos,
List <ShortestPathToZero> openList,
List <Vector2> closeList)
{
List <Vector2> result = new List <Vector2>();
FindPathRecursive(result, currentPos, openList, closeList);
return(result);
}
private void FindPathRecursive(
List <Vector2> resultPath,
ShortestPathToZero currentPos,
List <ShortestPathToZero> openList,
List <Vector2> closeList)
{
resultPath.Add(currentPos.GetPosition());
if (currentPos.IsDestination() ||
resultPath.Count >= _limitPathCount)
{
return;
}
bool isReachDestination = false;
Vector2[] adjacentNodes = currentPos.Node.GetAdjacentNodes(CellSize, MapSize);
for (int i = 0; i < adjacentNodes.Length; i++)
{
HexagonNode node = new HexagonNode(adjacentNodes[i].x, adjacentNodes[i].y);
var estimatePath =
new ShortestPathToZero(
node,
currentPos.MoveCost + MoveCost,
(node - HexagonNode.zero).Magnitude,
currentPos);
if (closeList.Contains(adjacentNodes[i]))
{
continue;
}
if (estimatePath.IsDestination())
{
//resultPath.Add(estimatePath.GetPosition());
isReachDestination = true;
break;
}
int findedIndex = openList.IndexOf(estimatePath);
if (findedIndex > -1 &&
openList[findedIndex].TotalCost != estimatePath.TotalCost)
{
openList[findedIndex] = estimatePath;
}
else
{
openList.Add(estimatePath);
}
}
if (isReachDestination ||
openList.Count == 0)
{
return;
}
openList.Sort();
ShortestPathToZero currentShortPath = openList[0];
openList.RemoveAt(0);
closeList.Add(currentShortPath.GetPosition());
FindPathRecursive(resultPath, currentShortPath, openList, closeList);
}
