//Main method to find a path
public List <GRIDNode> FindNewPath(Vector3 _startingVector, Vector3 _targetVector)
{
bool targetOnClosedList = false;
//Set the starting and target Vectors
startVector = _startingVector;
targetVector = _targetVector;
//Create and add the starting node
GRIDNode startingNode = CreateNode(currentVector, 0);
openList.Add(startingNode);
while (!targetOnClosedList)
{
PathRecursion();
//Target location has been found in path. Exit
if (closedList[closedList.Count - 1].GetNodePosition() == targetVector)
{
//Path has been found. Return true
closedList = PathCleanup();
targetOnClosedList = true;
break;
}
//Fail to find the target square, and the open list is empty. In this case, there is no path.
}
return(closedList);
}
//Creates a new node at the passed in position. Returns the node object
private GRIDNode CreateNode(Vector3 _nodeVector, int _parentID)
{
int gCost = DistanceAsInt(_nodeVector, startVector);
int hCost = DistanceAsInt(_nodeVector, targetVector);
int fCost = gCost + hCost;
GRIDNode node = new GRIDNode(nodeID, fCost, gCost, hCost, _parentID, _nodeVector);
//Increment Node Count
nodeID++;
return node;
}
//Creates a new node at the passed in position. Returns the node object
private GRIDNode CreateNode(Vector3 _nodeVector, int _parentID)
{
int gCost = DistanceAsInt(_nodeVector, startVector);
int hCost = DistanceAsInt(_nodeVector, targetVector);
int fCost = gCost + hCost;
GRIDNode node = new GRIDNode(nodeID, fCost, gCost, hCost, _parentID, _nodeVector);
//Increment Node Count
nodeID++;
return(node);
}
//For each of the 8 squares adjacent to this current square
private void FindChildren(int _parentID)
{
//Find 8 surriounding Node and Check for walkable
for (int x = -1; x <= 1; x++)
{
for (int z = -1; z <= 1; z++)
{
//Reset to false for loop start;
bool onOpenList = false;
bool onClosedList = false;
bool walkable = false;
int currentX = (int)currentVector.x + x;
int currentZ = (int)currentVector.z + z;
if (!(x == 0 && z == 0))
{
//If it is not walkable or if it is on the closed list, ignore it. Otherwise do the following.
if (gridTerrain.GetGRIDStatus(currentX, currentZ) == 0)
{
//Check ClosedList for Node
for (int i = closedList.Count; i-- > 0;)
{
if (closedList[i].GetNodePosition() == new Vector3(currentX, 0, currentZ))
{
onClosedList = true;
break;
}
}
//Check OpenList for Node
if (!onClosedList)
{
for (int i = openList.Count; i-- > 0;)
{
if (openList[i].GetNodePosition() == new Vector3(currentX, 0, currentZ))
{
onOpenList = true;
break;
}
}
}
//If not found on either list add to OpenList
if (!onOpenList && !onClosedList)
{
//Create new node
GRIDNode childNode = CreateNode(new Vector3(currentX, 0, currentZ), _parentID);
openList.Add(childNode);
}
else if (onOpenList && !onClosedList)
{
//If it is on the open list already, check to see if this path to that square is better, using G cost as the measure.
//A lower G cost means that this is a better path. If so, change the parent of the square to the current square,
//and recalculate the G and F scores of the square. If you are keeping your open list sorted by F score, you may need to resort the list to account for the change.
}
}
}
}
}
}