public bool JPS(Vector2 startPoint, Vector2 destination) // Pathfinding using Jump Point Search algorithm
{
List <Node> OPEN = new List <Node>(); // Set of nodes to be evaluated
HashSet <Node> CLOSED = new HashSet <Node>(); // Set of evaluated nodes
Node startNode = grid.GetPathableNode(startPoint);
Node targetNode = grid.GetPathableNode(destination); // Find the start and destination nodes from world points
if (startNode == null || targetNode.isBlocker)
{
return(false);
}
startNode.isOpen = true;
OPEN.Add(startNode); // Start by adding the starting node to the open set
while (OPEN.Count > 0) // Loop until there are no more possibilities
{
Node currentNode = OPEN[0];
foreach (Node n in OPEN)
{
if (n.fCost < currentNode.fCost || n.fCost == currentNode.hCost && n.hCost < currentNode.hCost)
{
currentNode = n; // Find the node in OPEN with the lowest f Cost
}
}
OPEN.Remove(currentNode);
currentNode.isOpen = false;
currentNode.isClosed = true;
CLOSED.Add(currentNode); // Remove the current node from OPEN and add it to CLOSED
if (currentNode == targetNode)
{
foreach (Node n in CLOSED)
{
n.isClosed = false;
}
foreach (Node n in OPEN)
{
n.isOpen = false;
}
return(true); // A path has been found
}
List <Node> neighbouringNodes = grid.GetNeighbouringNodes(currentNode);
foreach (Node n in neighbouringNodes)
{
Node jumpPoint = Jump(n, currentNode, targetNode); // Find our jump points
if (jumpPoint != null && !jumpPoint.isClosed)
{
int gCost = currentNode.gCost + GetDistance(currentNode, jumpPoint);
if (!jumpPoint.isOpen || gCost < jumpPoint.gCost)
{
jumpPoint.gCost = gCost; // Set or update the g cost of the jump point
jumpPoint.hCost = GetDistance(jumpPoint, targetNode); // Set the hCost of the jump point
jumpPoint.parentNode = currentNode; // Set the parent of the jump point
if (!jumpPoint.isOpen)
{
jumpPoint.isOpen = true;
OPEN.Add(jumpPoint); // If the jump point isn't open, add it
}
}
}
}
}
foreach (Node n in CLOSED)
{
n.isClosed = false;
}
Debug.Log("NO PATH");
return(false); // A path has not been found
}