public List <Node> pathFind(int startX, int startZ, int destX, int destZ)
{
int n = 0;
Node startNode = grid.GetNode(startX, startZ);
Node targetNode = grid.GetNode(destX, destZ);
List <Node> openSet = new List <Node>();
HashSet <Node> ClosedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
n++;
Node currentNode = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].FCost < currentNode.FCost || openSet[i].FCost == currentNode.FCost)
{
if (openSet[i].hCost < currentNode.hCost)
{
currentNode = openSet[i];
}
}
}
openSet.Remove(currentNode);
ClosedSet.Add(currentNode);
if (currentNode == targetNode)
{
return(RetracePath(startNode, targetNode));
}
foreach (Node neighbour in grid.GetNeighbours(currentNode))
{
if (ClosedSet.Contains(neighbour))
{
continue;
}
int costToNeighbour = currentNode.gCost + AstarGrid.GetDistance(currentNode, neighbour);
if (costToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = costToNeighbour;
neighbour.hCost = AstarGrid.GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
Debug.Log(n);
return(null);
}
private void _findPath(Index target)
{
ChangeState(AgentState.Idle);
var curIndex = AstarGrid.GetIndex(SelfBaseUnit.transform.position);
AstarGrid.FindPath(curIndex, target, IsTriggerDoTraversal ? Traversal2D : null, OnPathFound);
}
void Start() // setup references
{
grid = GameObject.Find("Grid");
level = new GameObject[NumberOfLevels];
level[0] = GameObject.Find("tmapXY_0");
level[1] = GameObject.Find("tmapXY_1");
Astar = GameObject.Find("A*");
script = Astar.GetComponent <AstarGrid>();
}
void Start()
{
grid = GetComponent <AstarGrid>();
FindPath(grid.startPos, grid.endPos);
}
void Awake()
{
ag = grid.GetComponent<AstarGrid>();
}
void Start()
{
m_grid = GetComponent <AstarGrid>();
}
public void Awake()
{
Astar = GameObject.FindWithTag("Grid");
_grid = Astar.GetComponent <AstarGrid>();
}
