/// <summary>
/// Finds a path from own position to given position in maze.
/// </summary>
/// <returns>The path.</returns>
/// <param name="map">Map.</param>
/// <param name="start">Start.</param>
/// <param name="end">End.</param>
/// <param name="solution">Solution.</param>
/// <param name="allowDiagonals">If set to <c>true</c> allow diagonals.</param>
public AStarSearch.SearchState FindPath(Vec3di end, List <Vec3di> solution, bool allowDiagonals)
{
solution.Clear();
AStarSearch astarsearch = new AStarSearch(map, ownPosition, end, allowDiagonals);
AStarSearch.SearchState SearchState;
do
{
SearchState = astarsearch.SearchStep();
}while(SearchState == AStarSearch.SearchState.SEARCHING);
if (SearchState == AStarSearch.SearchState.SUCCEEDED)
{
GridPosition mapPos = astarsearch.GetSolutionStart();
while (mapPos != null)
{
solution.Add(mapPos.Position);
mapPos = astarsearch.GetSolutionNext();
}
;
// Once you're done with the solution you can free the nodes up
astarsearch.Cleanup();
}
else if (SearchState == AStarSearch.SearchState.FAILED)
{
//Zentronic.Debug.LogError("search terminated. Goal state not found!");
}
return(SearchState);
}