public static void Process(AStarAgent agent)
{
foreach (GridElement element in agent.MyGrid.Elements)
{
element.PathParentField = null;
}
_openElements.Clear();
_closedElements.Clear();
if (!_targetElement.Walkable)
{
Debug.LogWarning("Target isn't Walkable!");
return;
}
_startElement.PathParentField = null;
bool complete = false;
if (_startElement != null)
{
_openElements.Add(_startElement);
_currentElement = _startElement;
_currentElement.CalculateHeuristic(_targetElement);
}
while (_openElements.Count > 0)
{
int openSize = _openElements.Count;
float lowestCost = float.MaxValue;
for (int i = 0; i < openSize; ++i)
{
if (_openElements[i].TotalFieldMoveCost < lowestCost)
{
_currentElement = _openElements[i];
lowestCost = _currentElement.TotalFieldMoveCost;
}
}
_openElements.Remove(_currentElement);
_closedElements.Add(_currentElement);
if (_currentElement.Equals(_targetElement))
{
complete = true;
break;
}
CheckNeighbours(agent.MyGrid);
}
if (complete)
{
GridElement step = _currentElement;
agent.Path.Clear();
do
{
agent.Path.Add(step);
step = step.PathParentField;
} while (step != null);
agent.Path.Reverse();
}
}
private static void CheckNeighbourHelper(Grid grid, IntVector3 index)
{
if (IsIndexInGrid(grid, index))
{
GridElement element = grid.Elements[index.x, index.y, index.z];
if (element.Walkable && !_closedElements.Contains(element))
{
if (!_openElements.Contains(element))
{
element.PathParentField = _currentElement;
_openElements.Add(element);
}
else
{
element.CheckNewParent(_currentElement);
}
element.CalculateHeuristic(_targetElement);
}
}
}
