public System.Collections.IEnumerator FindPath(Vertex startVertex, Vertex goalVertex, System.Action <List <Edge> > callback = null)
{
openList.Add(startVertex, new PathRecord(startVertex));
PathRecord current = null;
#region Not a part of algorithm, visualization purposes only
gridMarkerController.PutOpenNodeMarker(startVertex);
#endregion
while (openList.Count > 0)
{
current = openList.PopMinValue();
#region Not a part of algorithm, visualization purposes only
gridMarkerController.PutCurrentNodeMarker(current.node);
#endregion
if (current.node == goalVertex)
{
//WOW! we found goal!
break;
}
yield return(ProcessAllEdgesFromCurrent(current, goalVertex));
closeList.Add(current.node, current);
#region Not a part of algorithm, visualization purposes only
gridMarkerController.RemoveMarker(current.node);
gridMarkerController.PutClosedNodeMarker(current.node);
#endregion
yield return(new WaitForSecondsRealtime(sleepTime));
}
List <Edge> path = new List <Edge>();
if (current.node == goalVertex)
{
while (current.node != startVertex)
{
#region Not a part of algorithm, visualization purposes only
if (goalVertex != current.node)
{
gridMarkerController.PutPathNodeMarker(current.node);
yield return(new WaitForSecondsRealtime(sleepTime));
}
#endregion
path.Add(current.connection.edge);
current = current.connection.fromRecord;
}
path.Reverse();
}
if (callback != null)
{
callback.Invoke(path);
}
}
