public List <Vector3> FindPath(Node deptNode, Node destNode)
{
NodeHeap openHeap = new NodeHeap();
HashSet <Node> closedSet = new HashSet <Node>();
openHeap.Add(deptNode);
deptNode.fromCost = deptNode.toCost = 0;
deptNode.from = destNode.from = null;
while (openHeap.Count > 0)
{
Node nodeToVisit = openHeap.Pop();
closedSet.Add(nodeToVisit);
if (nodeToVisit == destNode)
{
break;
}
foreach (var adjacent in GetAdjacents(nodeToVisit))
{
if (closedSet.Contains(adjacent))
{
continue;
}
Node fromNode = null;
if (nodeToVisit.from != null && nodeToVisit.from.IsLineOfSight(adjacent))
{
fromNode = nodeToVisit.from;
}
else
{
fromNode = nodeToVisit;
}
int toAdjacentCost = fromNode.toCost + PredictDistanceCost(fromNode, adjacent);
if (!openHeap.Contains(adjacent) || toAdjacentCost < adjacent.toCost)
{
adjacent.toCost = toAdjacentCost;
adjacent.fromCost = PredictDistanceCost(adjacent, destNode);
adjacent.from = fromNode;
if (openHeap.Contains(adjacent))
{
openHeap.UpdateItem(adjacent);
}
else
{
openHeap.Add(adjacent);
}
}
}
}
List <Node> path = new List <Node>();
if (destNode.from != null)
{
Node currentNode = destNode;
while (currentNode != null)
{
path.Add(currentNode);
currentNode = currentNode.from;
}
path.Reverse();
}
// PS
// SmoothingPath(path);
List <Vector3> positionPath = new List <Vector3>();
// Visit departure node looks wired when path is changed
// Skip first(departure) node
for (int i = 1; i < path.Count; i++)
{
positionPath.Add(path[i].tile.transform.position);
}
return(positionPath);
}
IEnumerator FindPath(Vector3 startPos, Vector3 targetPos, NodeGrid grid)
{
Vector3[] waypoints = new Vector3[0];
bool pathSucces = false;
if (grid != null)
{
Node startNode = grid.GetNodeFromWorldPoint(startPos);
Node targetNode = grid.GetNodeFromWorldPoint(targetPos);
if (/*startNode.walkable && */ targetNode.walkable)
{
NodeHeap openSet = new NodeHeap(grid.MaxSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
pathSucces = true;
break;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour);
if (newCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathSucces)
{
waypoints = RetracePath(startNode, targetNode, grid);
pathSucces = (waypoints.Length > 0);
}
requestManager.FinishProcessingPath(waypoints, pathSucces);
}
}