public override IEnumerator FindPath(Vector2 start, Vector2 target, bool debug)
{
foreach (GraphNode node in graph.nodes)
{
node.pathCost = Mathf.Infinity;
}
GraphNode startNode = graph.GetGraphNodeFromWorldPosition(start);
GraphNode targetNode = graph.GetGraphNodeFromWorldPosition(target);
path = ReconstructPath(startNode, debug);
startNode.pathCost = 0;
while (graph.nodes.Count > 0)
{
GraphNode nearest = graph.GetNearestNode();
graph.RemoveGraphNode(nearest);
if (debug)
{
tiles[nearest.x, nearest.y].SetDebugColor(Color.yellow);
}
yield return(new WaitForSeconds(thinkTimeStep));
if (nearest == targetNode)
{
path = ReconstructPath(nearest, debug);
break;
}
foreach (GraphEdge edge in nearest.edges)
{
float newPathCost = nearest.pathCost + edge.travelCost;
if (newPathCost < edge.to.pathCost)
{
edge.to.pathCost = newPathCost;
edge.to.previous = nearest;
if (debug)
{
tiles[edge.to.x, edge.to.y].SetDebugColor(Color.cyan);
}
yield return(new WaitForSeconds(thinkTimeStep));
}
}
}
yield return(null);
}