public static void ComputePath(MovementController movingElement, Vector2Int goal, PathReadyFunc onComplete)
{
movingElement.StartCoroutine(ComputePathAsync(movingElement, goal, onComplete));
}
private static IEnumerator ComputePathAsync(MovementController movingElement, Vector2Int goal, PathReadyFunc onComplete)
{
Vector2Int start = movingElement.gridElement.position;
Vector2Int?closestGoal = FindClosestToGoal(goal);
if (closestGoal.HasValue)
{
goal = closestGoal.Value;
}
else
{
onComplete.Invoke(null);
yield break;
}
List <Vector2Int> openSet = new List <Vector2Int> {
start
};
Dictionary <Vector2Int, Vector2Int> cameFrom = new Dictionary <Vector2Int, Vector2Int>();
Dictionary <Vector2Int, float> gScore = new Dictionary <Vector2Int, float> {
[start] = 0
};
Dictionary <Vector2Int, float> fScore = new Dictionary <Vector2Int, float> {
[start] = H(start, goal)
};
float lastFrameTime = Time.realtimeSinceStartup;
while (openSet.Count > 0)
{
Vector2Int current = openSet[0];
foreach (Vector2Int i in openSet)
{
if (fScore[i] < fScore[current])
{
current = i;
}
}
if (current == goal)
{
onComplete.Invoke(ReconstructPath(cameFrom, current));
yield break;
}
openSet.Remove(current);
foreach (Vector2Int neighbor in AvailableNeighbors(movingElement, current))
{
if (!gScore.ContainsKey(neighbor))
{
gScore[neighbor] = Mathf.Infinity;
}
float tentativeScore = gScore[current] + Vector2Int.Distance(current, neighbor);
if (tentativeScore < gScore[neighbor])
{
cameFrom[neighbor] = current;
gScore[neighbor] = tentativeScore;
fScore[neighbor] = gScore[neighbor] + H(neighbor, goal);
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
}
}
float frameRate = Application.targetFrameRate == -1 ? 60.0f : Application.targetFrameRate;
if (Time.realtimeSinceStartup - lastFrameTime >= 1 / frameRate)
{
lastFrameTime = Time.realtimeSinceStartup;
yield return(null);
}
}
onComplete.Invoke(null);
}
