private List <Cell> Astar()
{
Astar solver = new Astar(startPos, endPos, grid, Width, Height);
List <Cell> path = solver.Process();
if (path == null)
{
Debug.Log("Was not able to find any viable path! Exit!");
_isSet = false;
lineRenderer.enabled = false;
}
else
{
string s = "";
foreach (var cell in path)
{
s += "(" + cell.x + ", " + cell.y + ") ";
}
Debug.Log("path: " + s);
// Raw A* made for object space
rawAstarPath = path;
rawAStarintermediatePath = ConvertCellsToVector3(path).ToArray();
// Checking if there are corners near an obstacle and moving the corner point by Cellsize / 2 away on x and y
path = CheckingCorners(rawAstarPath);
// Restart from same position
if (_isSet)
{
path[0].worldPos = transform.position;
}
// Aplying Bezier
float tLength = 0;
for (int i = 0; i < path.Count - 1; i++)
{
tLength += GetEuclidianDistance(path[i].worldPos, path[i + 1].worldPos);
}
float step = 1 / tLength;
List <Vector3> newPath = new List <Vector3>();
for (float t = 0.0f; t <= 1.0f; t += step)
{
newPath.Add(Bezier.Apply(path, t));
}
// LineReader needs an array
intermediatePath = newPath.ToArray();
// Make Cells to have both object and world coordinates
path = ConvertVector3ToCell(intermediatePath);
}
return(path);
}