public void Run()
{
if (m_Graph == null)
{
Debug.LogError("The assigned graph is either not assigned or invalid.");
return;
}
// Clear state of previous run
m_Path.Clear();
m_Graph.Clear();
// Convert start and end locations to nodes in the graph
var start = m_Graph.GetClosestNodeToPoint(m_Start);
var goal = m_Graph.GetClosestNodeToPoint(m_End);
if (start == goal)
{
Debug.LogError("Start and goal are the same node. No path was found.");
return;
}
// Create a dictionairy to keep track of how we
// discovered a node.
var cameFrom = new Dictionary <Node, Node>();
// Execute the algorithm we have selected.
AStarSearch.Execute(m_Graph, start, goal, cameFrom);
// Initialize the Hermite curve with the path just found
hermiteCurve = GetComponent <DebugCurve>();
hermiteCurve.controlPoints = m_Path;
hermiteCurve.Init();
// Reconstruct Path
ReconstructPath(cameFrom, start, goal, m_Path);
}