public static ArrayList FindPath(Node startNode, Node endNode)
{
NodeList openList = new NodeList(); // New neighbour node
NodeList closeList = new NodeList(); // Node alreadly processed
// GridManager gridManager = GameObject.FindGameObjectWithTag ("GridManager").GetComponent <GridManager> ();
GridManager gridManager = GameObject.FindObjectOfType(typeof(GridManager)) as GridManager;
gridManager.ClearNodeHistory();
// Add the start node
startNode.gCost = 0;
startNode.fCost = startNode.gCost + HeuristicCost(startNode, endNode);
openList.Push(startNode);
while (openList.GetFirstNode() != null)
{
Node currentNode = openList.GetFirstNode();
if (currentNode == endNode)
{
return(GetPathList(endNode));
}
ArrayList neighbourNodes = gridManager.GetNeighbourNodes(currentNode);
foreach (Node neighbourNode in neighbourNodes)
{
if (!closeList.Contain(neighbourNode)) // Skip if processed before
{
float gCost = currentNode.gCost + OneStepCost(currentNode, neighbourNode);
float fCost = gCost + HeuristicCost(neighbourNode, endNode);
// Update if neighbour node is not contained in openlist
// or new fCost is lower than the before
if (!openList.Contain(neighbourNode) || fCost < neighbourNode.fCost)
{
neighbourNode.parentNode = currentNode;
neighbourNode.gCost = gCost;
neighbourNode.fCost = fCost;
// Add if neighbour node is not contained in openlist
if (!openList.Contain(neighbourNode))
{
openList.Push(neighbourNode);
}
}
}
}
// Manipulate list
openList.Pop(currentNode);
closeList.Push(currentNode);
}
return(GetPathList(endNode));
}
