public IEnumerator FindPath(Vector3 startpos, Vector3 targetpos)
{
Node StartNode = grid.NodeFromWorldPoint(startpos);
Node TargetNode = grid.NodeFromWorldPoint(targetpos);
waypoints = new Vector3[0];
bool pathsuccess = false;
if (StartNode.walkable && TargetNode.walkable)
{
Heap <Node> OpenSet = new Heap <Node>(grid.MaxSize);
HashSet <Node> ClosedSet = new HashSet <Node>();
OpenSet.Add(StartNode);
while (OpenSet.Count > 0)
{
Node CurrentNode = OpenSet.RemoveFirst();
ClosedSet.Add(CurrentNode);
CurrentNode.gm.GetComponent <SpriteRenderer>().color = Color.green;
CurrentNode.text.text = CurrentNode.F_Cost.ToString();
if (CurrentNode == TargetNode)
{
pathsuccess = true;
// TracePath(StartNode,TargetNode);
break;
}
foreach (Node neighbour in grid.GetNeighbours(CurrentNode))
{
if (!(neighbour.walkable) || ClosedSet.Contains(neighbour))
{
continue;
}
int NewMovementcosttoNeighbour = CurrentNode.G_Cost + GetDistance(CurrentNode, neighbour);
if (NewMovementcosttoNeighbour < neighbour.G_Cost || !OpenSet.Contains(neighbour))
{
neighbour.G_Cost = NewMovementcosttoNeighbour;
neighbour.H_Cost = GetDistance(neighbour, TargetNode);
neighbour.Parent = CurrentNode;
neighbour.text.text = neighbour.F_Cost.ToString();
if (!OpenSet.Contains(neighbour))
{
neighbour.gm.GetComponent <SpriteRenderer>().color = Color.red;
OpenSet.Add(neighbour);
}
else
{
OpenSet.UpdateItem(neighbour);
neighbour.text.text = neighbour.F_Cost.ToString();
}
}
// yield return new WaitForSeconds(2f);
}
// yield return new WaitForSeconds(.5f);
}
}
yield return(null);
if (pathsuccess)
{
waypoints = TracePath(StartNode, TargetNode);
// drawpath();
print("okey path found");
}
else
{
print("hey bitch no path");
}
// print("waypoints"+waypoints.Length);
pathRequestManager.FinishedProcessingUnit(waypoints, pathsuccess);
}