//Generate a path with Hybrid A* public void GenerateHybridAStarPath(Transform targetTrans, List <Node> finalPath, List <Node> allExpandedNodes) { CarData targetCarData = targetTrans.GetComponent <CarData>(); //Get the data belonging to the current active car this.carData = SimController.current.GetActiveCarData(); //Each car may have a different turning radius reedsSheppPathGenerator = new GenerateReedsShepp(carData.GetTurningRadius()); //Everything we need to reset before we begin Reset(); //Run the main loop RunHybridAStar(targetCarData, allExpandedNodes); //Generate the final path when Hybrid A* has found the goal GenerateFinalPath(finalPath); }