public static List <GridPos> FindPath(JumpPointParam iParam)
{
List <Node> tOpenList = iParam.openList;
Node tStartNode = iParam.StartNode;
Node tEndNode = iParam.EndNode;
bool revertEndNodeWalkable = false;
// set the `g` and `f` value of the start node to be 0
tStartNode.startToCurNodeLen = 0;
tStartNode.heuristicStartToEndLen = 0;
// push the start node into the open list
tOpenList.Add(tStartNode);
tStartNode.isOpened = true;
if (iParam.AllowEndNodeUnWalkable && !iParam.SearchGrid.IsWalkableAt(tEndNode.x, tEndNode.y))
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, 0);
revertEndNodeWalkable = true;
}
// while the open list is not empty
while (tOpenList.Any())
{
// pop the position of node which has the minimum `f` value.
Node tNode = tOpenList.Last();
tOpenList.RemoveAt(tOpenList.Count - 1);
tNode.isClosed = true;
if (tNode.Equals(tEndNode))
{
if (revertEndNodeWalkable)
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, 1);
}
return(Node.Backtrace(tNode)); // rebuilding path
}
identifySuccessors(iParam, tNode);
}
if (revertEndNodeWalkable)
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, 1);
}
// fail to find the path
return(new List <GridPos>());
}
