public void FindPath(PathRequest3D request, Action <PathResult> callback)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
Node3D startNode = grid.NodeFromWorldPoint(request.pathStart);
Node3D targetNode = grid.NodeFromWorldPoint(request.pathEnd);
startNode.parent = startNode;
if (startNode.walkable && targetNode.walkable)
{
Heap3D <Node3D> openSet = new Heap3D <Node3D>(grid.MaxSize);
HashSet <Node3D> closedSet = new HashSet <Node3D>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node3D currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
sw.Stop();
//print ("Path found: " + sw.ElapsedMilliseconds + " ms");
pathSuccess = true;
break;
}
foreach (Node3D neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenalty;
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
pathSuccess = waypoints.Length > 0;
}
callback(new PathResult(waypoints, pathSuccess, request.callback));
}