/// <summary>
/// 길찾기 코루틴
/// </summary>
/// <param name="start"></param>
/// <param name="goal"></param>
/// <returns></returns>
private IEnumerator FindPath(CellClass start, CellClass goal)
{
CellClass[] wayPoints = new CellClass[0];
mPathSuccess = false;
if (start.GetWalkable() && goal.GetWalkable())
{
Heap <CellClass> openSet = new Heap <CellClass>(mMap.GetMaxSize());
HashSet <CellClass> closeSet = new HashSet <CellClass>();
openSet.Add(start);
while (openSet.Count > 0)
{
CellClass currentNode = openSet.RemoveFirst();
closeSet.Add(currentNode);
if (currentNode == goal)
{
mPathSuccess = true;
break;
}
foreach (CellClass neighbour in mMap.GetNeighbours(currentNode))
{
if (!neighbour.GetWalkable() || closeSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.GetGCost() + GetDistance(currentNode, neighbour);
if (newMovementCostToNeighbour < neighbour.GetGCost() || !openSet.Contains(neighbour))
{
neighbour.SetGCost(newMovementCostToNeighbour);
neighbour.SetHCost(GetDistance(neighbour, goal));
neighbour.SetParent(currentNode);
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
}
yield return(null);
if (mPathSuccess)
{
wayPoints = RetracePath(start, goal);
OnPathFound(wayPoints, true);
}
}