private PathNode getPathNodeOfNearest(int startX, int startY, IGridObjectType gridObjectType)
{
PathNode startNode = grid.GetGridObject(startX, startY);
if (startNode == null)
{
// Invalid Path
return(null);
}
openList = new List <PathNode> {
startNode
};
closedList = new List <PathNode>();
while (openList.Count > 0)
{
PathNode currentNode = GetLowestFCostNode(openList);
openList.Remove(currentNode);
closedList.Add(currentNode);
if (currentNode.referenceToObjects.Exists(referenceToObject =>
referenceToObject.gridObjectType.Equals(gridObjectType)))
{
return(currentNode);
}
foreach (PathNode neighbourNode in GetNeighbourList(currentNode))
{
if (closedList.Contains(neighbourNode))
{
continue;
}
if (!neighbourNode.isWalkable && !neighbourNode.referenceToObjects.Exists(referenceToObject =>
referenceToObject.gridObjectType.Equals(gridObjectType)))
{
closedList.Add(neighbourNode);
continue;
}
if (!openList.Contains(neighbourNode))
{
openList.Add(neighbourNode);
}
}
}
// Out of nodes on the openList
return(null);
}
