public static void RequestPath(aPathRequest request)
{
ThreadStart threadStart = delegate { instance.pathfinding.FindPath(request, instance.FinishedProcessingPath); };
threadStart.Invoke();
}
public void FindPath(aPathRequest request, Action <aPathResult> callback)
{
Vector3[] wayPoints = new Vector3[0];
bool pathSuccess = false;
aNode startNode = grid.NodeFromWorldPoint(request.pathStart);
aNode targetNode = grid.NodeFromWorldPoint(request.pathEnd);
if (startNode.walkable && targetNode.walkable)
{
aHeap openSet = new aHeap(grid.MaxSize);
List <aNode> closedSet = new List <aNode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
aNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
pathSuccess = true;
break;
}
foreach (aNode neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCost = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenality;
if (newMovementCost < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCost;
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 aPathResult(wayPoints, pathSuccess, request.callback));
}