//Finds the closest path to PacMan from the ghost position.
void FindPath(Vector3 StartPos, Vector3 targetPos)
{
node StartNode = grid.PacmanPosition(StartPos);
node targetNode = grid.PacmanPosition(targetPos);
List <node> openSet = new List <node>();
HashSet <node> closetSet = new HashSet <node>();
openSet.Add(StartNode);
while (openSet.Count > 0)
{
node currentNode = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].fCost < currentNode.fCost || openSet[i].fCost == currentNode.fCost && openSet[i].hCost < currentNode.hCost)
{
currentNode = openSet[i];
}
}
openSet.Remove(currentNode);
closetSet.Add(currentNode);
if (currentNode == targetNode)
{
RetracePath(StartNode, targetNode);
return;
}
foreach (node neighbor in grid.GetNeighbors(currentNode))
{
if (!neighbor.canWalk || closetSet.Contains(neighbor))
{
continue;
}
int newMovementCost = currentNode.gCost + GetDistance(currentNode, neighbor);
if (newMovementCost < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMovementCost;
neighbor.hCost = GetDistance(neighbor, targetNode);
neighbor.parent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
}
}
}
}
