IEnumerator Pathfind()
{
frontier.Enqueue(new InternalPathNode(startPos, ActionType.WALK), 0);
movementCosts.Set(startPos, 0);
parents.Set(startPos, new InternalPathNode(startPos, ActionType.WALK));
closestDistance = int.MaxValue;
InternalPathNode current;
var cycles = 0;
while (frontier.Count > 0)
{
++cycles;
current = frontier.Dequeue();
var adj = GetAdjacent(current.coord);
foreach (var pos in adj)
{
if (!IsClosed(pos.coord))
{
if (!frontier.Contains(pos))
{
movementCosts.Set(pos.coord, Mathf.Infinity); // so (new < orig) comparison works
}
UpdateNode(current, pos);
if (pos.coord == endPos)
{
ReconstructPath(pos);
yield break;
}
if (HexUtil.DistanceFlat(pos.coord, endPos) < closestDistance)
{
closestDistance = HexUtil.DistanceFlat(pos.coord, endPos);
closestPoint = pos;
}
}
}
if (cycles >= cyclesPerFrame)
{
cycles = 0;
yield return(null);
}
}
// endpos was not on connected graph; return closest node
ReconstructPath(closestPoint);
}