public bool FindPath(Vector3 startWorldPoint, Vector3 endWorldPoint, ref List <Vector3> path, bool local)
{
PathfindingNode startNode = m_Grid.GetNodeFromWorldPoint(startWorldPoint);
if (startNode == null)
{
return(false);
}
PathfindingNode targetNode = m_Grid.GetNodeFromWorldPoint(endWorldPoint);
if (targetNode == null)
{
return(false);
}
if (startNode == targetNode)
{
return(false);
}
// List of nodes for the open list.
List <PathfindingNode> openList = new List <PathfindingNode>();
// List of nodes for the closed list.
HashSet <PathfindingNode> closedList = new HashSet <PathfindingNode>();
openList.Add(startNode);
while (openList.Count > 0)
{
PathfindingNode currentNode = openList[0];
for (int i = 1; i < openList.Count; ++i)
{
if (openList[i].fCost < currentNode.fCost || openList[i].fCost == currentNode.fCost && openList[i].hCost < currentNode.hCost)
{
currentNode = openList[i];
}
}
openList.Remove(currentNode);
closedList.Add(currentNode);
if (currentNode == targetNode)
{
path = GetFinalPath(startNode, targetNode, local);
return(true);
}
foreach (PathfindingNode neighborNode in m_Grid.GetNeighboringNodes(currentNode))
{
if (neighborNode.isObstacle || closedList.Contains(neighborNode))
{
continue;
}
int moveCost = currentNode.gCost + GetManhattenDistance(currentNode, neighborNode);
if (moveCost < neighborNode.gCost || !openList.Contains(neighborNode))
{
neighborNode.gCost = moveCost;
neighborNode.hCost = GetManhattenDistance(neighborNode, targetNode);
neighborNode.parentNode = currentNode;
if (!openList.Contains(neighborNode))
{
openList.Add(neighborNode);
}
}
}
}
return(false);
}