public void Init(IPathFindingRules pathFindingRules, AStarSearch search)
{
_pathFindingRules = pathFindingRules;
_search = search;
UnBuild();
Build();
}
public List <Node> Search(Node start, Node goal, IPathFindingRules rules, PathFindingAgent agent)
{
_openSet.Clear();
_closedSet.Clear();
_openSet.Add(start);
var foundGoal = false;
while (_openSet.Count > 0)
{
Node node = _openSet.RemoveFirst();
_closedSet.Add(node);
if (node == goal)
{
foundGoal = true;
break;
}
var transitions = rules.GetTransitions(_pathFindingGrid, agent, node);
foreach (var transition in transitions)
{
Node neighbour = transition.Node;
if (/*!neighbour.IsWalkable ||*/ _closedSet.Contains(neighbour))
{
continue;
}
int newCost = node.GCost + transition.Cost;
if (newCost < neighbour.GCost || !_openSet.Contains(neighbour))
{
neighbour.GCost = newCost;
neighbour.HCost = rules.GetHeuristic(neighbour, goal, agent);
neighbour.Parent = node;
neighbour.Transition = transition.Transition;
if (_openSet.Contains(neighbour))
{
_openSet.UpdateItem(neighbour);
}
else
{
_openSet.Add(neighbour);
}
}
}
}
return(foundGoal ? RetracePath(start, goal) : null);
}
void Start()
{
_grid = new Node[_gridSizeY, _gridSizeX];
_position = transform.position;
Vector2 bottomLeftCell = GetBottomLeftCellCenter();
for (var y = 0; y < _gridSizeY; ++y)
{
for (var x = 0; x < _gridSizeX; ++x)
{
Vector2 cellCenter = bottomLeftCell + new Vector2(x * _cellSize, y * _cellSize);
bool isOccupiedCell = IsOccupiedCell(cellCenter);
_grid[y, x] = new Node(!isOccupiedCell, cellCenter, x, y);
}
}
_pathFindingRules = new PlatformerRules(_agent);
_search = new AStarSearch(this);
}
