// finds a path between two positions in the graph
public List <PathNode> FindPath(Vector2Int startPos, Vector2Int endPos)
{
// get the first Node (startPos) and add it to open list
PathNode startNode = GetNode(startPos.x, startPos.y);
PathNode endNode = GetNode(endPos.x, endPos.y);
openList = new List <PathNode> {
startNode
};
closedList = new List <PathNode>();
for (int x = 0; x < grid.GetWidth(); x++)
{
for (int y = 0; y < grid.GetHeight(); y++)
{
PathNode pathNode = GetNode(x, y);
pathNode.gCost = int.MaxValue;
pathNode.CalculateFCost();
pathNode.cameFromNode = null;
}
}
startNode.gCost = 0;
startNode.hCost = CalculateDistanceCost(startNode, endNode);
startNode.CalculateFCost();
// CYCLE:
while (openList.Count > 0)
{
PathNode currNode = GetLowestFCostNode(openList);
if (currNode == endNode)
{
// reached final node
return(CalculatePath(endNode));
}
openList.Remove(currNode);
closedList.Add(currNode);
foreach (PathNode neighborNode in GetNeighbors(currNode))
{
if (closedList.Contains(neighborNode))
{
continue;
}
// ignores nodes that are not walkable
if (!neighborNode.isWalkable)
{
closedList.Add(neighborNode);
continue;
}
int tentCost = currNode.gCost + CalculateDistanceCost(currNode, neighborNode);
if (tentCost < neighborNode.gCost)
{
neighborNode.cameFromNode = currNode;
neighborNode.gCost = tentCost;
neighborNode.hCost = CalculateDistanceCost(neighborNode, endNode);
neighborNode.CalculateFCost();
if (!openList.Contains(neighborNode))
{
openList.Add(neighborNode);
}
}
}
}
// Out of nodes in open list!
return(null);
}
private void UpdateVisual()
{
int quadCount = grid.GetWidth() * grid.GetHeight();
MeshUtils.CreateEmptyMeshArrays(quadCount, out Vector3[] vertices, out Vector2[] uv, out int[] triangles);