public bool MoveTo(Node n)
{
if (n == null || n.traverseCost >= 100)
{
return(false);
}
if (!(transform.tag == "Player" && Player.Instance.GetState() == Player.PlayerState.Ghosting))
{
if (n.occupied)
{
return(false);
}
if (myNode != null)
{
myNode.occupied = false;
}
else
{
grid.NodeFromPosition(transform.position).occupied = false;
}
n.occupied = true;
}
StartCoroutine(SmoothMove(this.transform.position, n.gameObject.transform.position));
myNode = n;
return(true);
}
public Node FindStep(Vector3 a_MyPos, Vector3 a_TargetPos)
{
StartNode = grid.NodeFromPosition(a_MyPos);
TargetNode = grid.NodeFromPosition(a_TargetPos);
List <Node> OpenList = new List <Node>();
HashSet <Node> ClosedList = new HashSet <Node>();
OpenList.Add(StartNode);
while (OpenList.Count > 0)
{
Node CurrentNode = OpenList[0];
for (int i = 1; i < OpenList.Count; i++)
{
if (OpenList[i].FCost < CurrentNode.FCost || OpenList[i].FCost == CurrentNode.FCost && OpenList[i].hCost < CurrentNode.hCost)
{
CurrentNode = OpenList[i];
}
}
OpenList.Remove(CurrentNode);
ClosedList.Add(CurrentNode);
if (CurrentNode == TargetNode)
{
List <Node> bestPath = GetFinalPath(StartNode, TargetNode);
if (bestPath.Count > 0)
{
return(bestPath[0]);
}
else
{
return(null);
}
}
foreach (Node NeighborNode in grid.GetNeighboringNodes(CurrentNode))
{
if ((NeighborNode.occupied && !NeighborNode == TargetNode) || NeighborNode.traverseCost >= 100 || ClosedList.Contains(NeighborNode))
{
continue;
}
float MoveCost = CurrentNode.gCost + NeighborNode.traverseCost + GetManhattenDistance(CurrentNode, NeighborNode);
if (MoveCost < NeighborNode.gCost || !OpenList.Contains(NeighborNode))
{
NeighborNode.gCost = MoveCost;
NeighborNode.hCost = GetManhattenDistance(NeighborNode, TargetNode);
NeighborNode.Parent = CurrentNode;
if (!OpenList.Contains(NeighborNode))
{
OpenList.Add(NeighborNode);
}
}
}
}
return(null);
}
