public static List <GridCell> FindPath(GridController grid, Vector2Int start, Vector2Int end, bool diag = false)
{
List <GridCell> Path = null;
GridCell StartNode = grid.GetGridPoint(start);
GridCell TargetNode = grid.GetGridPoint(end);
if (TargetNode == null || StartNode == null)
{
return(null);
}
List <GridCell> OpenList = new List <GridCell>();
HashSet <GridCell> ClosedList = new HashSet <GridCell>();
OpenList.Add(StartNode);
while (OpenList.Count > 0)
{
GridCell CurrentNode = OpenList[0];
for (int i = 1; i < OpenList.Count; i++)
{
if (OpenList[i].FCost() < CurrentNode.FCost() || OpenList[i].FCost() == CurrentNode.FCost() && OpenList[i].hCost < CurrentNode.hCost)
{
CurrentNode = OpenList[i];
}
}
OpenList.Remove(CurrentNode);
ClosedList.Add(CurrentNode);
if (CurrentNode == TargetNode)
{
Path = GetFinalPath(StartNode, TargetNode);
}
foreach (GridCell NeighborNode in grid.GetNeighboringCells(CurrentNode.transform.position, diag))
{
if (NeighborNode.IsWall() || !NeighborNode.Walkable || ClosedList.Contains(NeighborNode))
{
continue;
}
int MoveCost = CurrentNode.gCost + GetManhattenDistance(CurrentNode, NeighborNode) + NeighborNode.weight;
if (MoveCost < NeighborNode.gCost || !OpenList.Contains(NeighborNode))
{
NeighborNode.gCost = MoveCost;
NeighborNode.hCost = GetManhattenDistance(NeighborNode, TargetNode);
NeighborNode.ParentNode = CurrentNode;
if (!OpenList.Contains(NeighborNode))
{
OpenList.Add(NeighborNode);
}
}
}
}
return(Path);
}