public List <Tile> FindPath(Vector3 startPos, Vector3 endPos)
{
Tile startTile = generator.TileFromWorldPoint(startPos);
Tile endTile = generator.TileFromWorldPoint(endPos);
List <Tile> openSet = new List <Tile>();
HashSet <Tile> closedSet = new HashSet <Tile>();
openSet.Add(startTile);
while (openSet.Count > 0)
{
Tile currentTile = openSet[0];
foreach (Tile t in openSet)
{
if (t.fScore < currentTile.fScore || t.fScore == currentTile.fScore && t.hScore < currentTile.hScore)
{
currentTile = t;
}
}
openSet.Remove(currentTile);
closedSet.Add(currentTile);
if (currentTile == endTile)
{
ReconstructPath(startTile, endTile);
return(path);
}
List <Tile> neighbours = generator.GetNeighbours(currentTile);
foreach (Tile neighbour in neighbours)
{
if (neighbour.tileType == TileType.Type.ROCK || closedSet.Contains(neighbour))
{
continue;
}
int newGScore = currentTile.gScore + GetDistance(currentTile, neighbour);
if (newGScore < currentTile.gScore || !openSet.Contains(neighbour))
{
neighbour.gScore = newGScore;
neighbour.hScore = GetDistance(neighbour, endTile);
neighbour.parent = currentTile;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
return(null);
}