public bool FindPath(Vector2Int gridstart, Vector2Int gridend, ref List <Node> pathref)
{
// create open set
List <Node> open_set = new List <Node>();
Node start_node = grid_.GetNode(gridstart.x, gridstart.y);
Node end_node = grid_.GetNode(gridend.x, gridend.y);
open_set.Add(start_node);
start_node.inOpen_ = true;
nodes_to_reset_.Add(start_node);
while (open_set.Count > 0)
{
Node current_node = open_set[GetLowestFNode(open_set)];
// erase current node from open set
open_set.Remove(current_node);
// remove current node from open set
current_node.inOpen_ = false;
// add current node to close set by flag
current_node.inClosed_ = true;
// if current node equals to end node, we have reached destination
if (current_node == end_node)
{
pathref = RetracePath(start_node, end_node);
return(true);
}
// else continue search
foreach (Node n in grid_.GetNeighbours(current_node))
{
// if not traversable or in closed set, skip
if (!n.isWalkable_ || n.inClosed_)
{
continue;
}
// if new g cost < g cost (need updating), or if not in open set, update/calculate f cost, add to open set
// calculate new g cost of neighbour relative to current node
int new_g_cost = current_node.gCost_ + GetDistanceBetweenNodes(current_node, n);
if (new_g_cost < n.gCost_ || !n.inOpen_)
{
n.gCost_ = new_g_cost;
n.hCost_ = GetDistanceBetweenNodes(n, end_node);
n.parent_ = current_node;
if (!n.inOpen_)
{
open_set.Add(n);
n.inOpen_ = true;
}
nodes_to_reset_.Add(n);
}
}
}
return(false);
}