private IEnumerator PathSearch()
{
while (!grid.GridGenerated)
{
yield return(new WaitForSeconds(0.5f));
}
PathNode targetNode = grid.GetNearestWalkableNode(request.pathEnd);
PathNode startNode = grid.GetNearestWalkableNode(request.pathStart);
waypoints = new Vector3[0];
pathFound = false;
if (startNode.walkable && targetNode.walkable)
{
Heap <PathNode> openSet = new Heap <PathNode>(grid.MaxSize);
HashSet <PathNode> closedSet = new HashSet <PathNode>();
openSet.Add(startNode);
float timer = Time.realtimeSinceStartup;
float maxTime = .01f;
while (openSet.Count > 0)
{
if (Time.realtimeSinceStartup > timer + maxTime)
{
yield return(null);
timer = Time.realtimeSinceStartup;
}
PathNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
pathFound = true;
break;
}
foreach (PathNode neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMoveCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + currentNode.movementPenalty;
if (newMoveCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMoveCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
if (pathFound)
{
waypoints = RetracePath(startNode, targetNode);
pathFound = waypoints.Length > 0;
}
}
