void YolBul(Vector3 baslangicPos, Vector3 hedefPos)
{
Node baslangicDugum = grid.GridDugumleri(baslangicPos);
Node hedefDugum = grid.GridDugumleri(hedefPos);
List <Node> openKume = new List <Node>();
HashSet <Node> kapaliKume = new HashSet <Node>();
openKume.Add(baslangicDugum);
while (openKume.Count > 0)
{
Node node = openKume[0];
for (int i = 1; i < openKume.Count; i++)
{
if (openKume[i].fCost < node.fCost || openKume[i].fCost == node.fCost)
{
if (openKume[i].hCost < node.hCost)
{
node = openKume[i];
}
}
}
openKume.Remove(node);
kapaliKume.Add(node);
if (node == hedefDugum)
{
DonusYolu(baslangicDugum, hedefDugum);
return;
}
foreach (Node komsudugumler in grid.KomsulukMatrisi(node))
{
if (!komsudugumler.walkable || kapaliKume.Contains(komsudugumler))
{
continue;
}
int newCostTokomsudugumler = node.gCost + UzaklikOlcumu(node, komsudugumler);
if (newCostTokomsudugumler < komsudugumler.gCost || !openKume.Contains(komsudugumler))
{
komsudugumler.gCost = newCostTokomsudugumler;
komsudugumler.hCost = UzaklikOlcumu(komsudugumler, hedefDugum);
komsudugumler.parent = node;
if (!openKume.Contains(komsudugumler))
{
openKume.Add(komsudugumler);
}
}
}
}
}
