public void FindPath(PathRequest request, Action <PathResult> callBack) { lock (this) { Vector3[] wayPoints = new Vector3[0]; bool pathSuccess = false; Node startNode = grid.NodeFromWorldPoint(request.PathStart); Node targetNode = grid.NodeFromWorldPoint(request.PathEnd); if (targetNode.walkable) { Heap <Node> openSet = new Heap <Node>(grid.GetMaxGridSize); HashSet <Node> closedSet = new HashSet <Node>(); openSet.Add(startNode); while (openSet.Count > 0) { Node currentNode = openSet.RemoveFirst(); closedSet.Add(currentNode); if (currentNode == targetNode) { pathSuccess = true; break; } foreach (Node neighbour in grid.GetNeighbours(currentNode)) { if (!neighbour.walkable || closedSet.Contains(neighbour)) { continue; } int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenalty; if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour)) { neighbour.gCost = newMovementCostToNeighbour; neighbour.hCost = GetDistance(neighbour, targetNode); neighbour.parent = currentNode; if (!openSet.Contains(neighbour)) { openSet.Add(neighbour); } else { openSet.UpdateItem(neighbour); } } } } } if (pathSuccess) { wayPoints = RetracePath(startNode, targetNode); pathSuccess = wayPoints.Length > 0; } callBack(new PathResult(wayPoints, pathSuccess, request.CallBack)); } }