IEnumerator CreatePath(Vector3 startPos, Vector3 targetPos)
{
NavNode startNode = grid.GetNodeFromWorld(startPos);
NavNode targetNode = grid.GetNodeFromWorld(targetPos);
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
Debug.Log("Creating Path");
if (startNode.walkable && targetNode.walkable)
{
Debug.Log("Creating Path inside first check");
Heap <NavNode> openSet = new Heap <NavNode>(grid.MaxSize);
HashSet <NavNode> closedSet = new HashSet <NavNode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
NavNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
Debug.Log("Path Found!");
pathSuccess = true;
break;
}
foreach (NavNode neighbor in grid.GetNeighbors(currentNode))
{
if (!neighbor.walkable || closedSet.Contains(neighbor))
{
continue;
}
int newMovementCostToNeighbor = currentNode.gCost + GetDistance(currentNode, neighbor);
if (newMovementCostToNeighbor < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
neighbor.hCost = GetDistance(neighbor, targetNode);
neighbor.parent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
else
{
openSet.UpdateItem(neighbor);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
PathRequestManager.Instance.ProcessingComplete(waypoints, pathSuccess);
}
