IEnumerator FindPath(Vector3 startPos, Vector3 targetPos)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
QuadTreeNode startNode = grid.locateNode(startPos);
QuadTreeNode targetNode = grid.locateNode(targetPos);
//if ((targetNode.danger < 1 && targetNode.walkable))
if (startNode.walkable && targetNode.walkable)
{
ListHeap<QuadTreeNode> openSet = new ListHeap<QuadTreeNode>();
HashSet<QuadTreeNode> closedSet = new HashSet<QuadTreeNode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
QuadTreeNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
sw.Stop();
// print("Path found: " + sw.ElapsedMilliseconds + " ms");
pathSuccess = true;
break;
}
foreach (KeyValuePair<QuadTreeNode, float> entry in currentNode.neighbours)
{
//if (neighbour.danger > 0 || !neighbour.walkable || closedSet.Contains(neighbour))
QuadTreeNode neighbour = entry.Key;
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
float newMovementCostToNeighbour = currentNode.gCost + entry.Value;
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = Vector3.Distance(neighbour.worldPosition,targetNode.worldPosition);
neighbour.successor = currentNode;
if (!openSet.Contains(neighbour))
openSet.Add(neighbour);
else
openSet.UpdateItem(neighbour);
}
}
}
}
yield return null;
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
requestManager.FinishedProcessingPath(waypoints, pathSuccess);
}
IEnumerator FindPath(Vector3 startPos, Vector3 targetPos)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
QuadTreeNode startNode = grid.locateNode(startPos);
QuadTreeNode targetNode = grid.locateNode(targetPos);
//if ((targetNode.danger < 1 && targetNode.walkable))
if (startNode.walkable && targetNode.walkable)
{
ListHeap <QuadTreeNode> openSet = new ListHeap <QuadTreeNode>();
HashSet <QuadTreeNode> closedSet = new HashSet <QuadTreeNode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
QuadTreeNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
sw.Stop();
// print("Path found: " + sw.ElapsedMilliseconds + " ms");
pathSuccess = true;
break;
}
foreach (KeyValuePair <QuadTreeNode, float> entry in currentNode.neighbours)
{
//if (neighbour.danger > 0 || !neighbour.walkable || closedSet.Contains(neighbour))
QuadTreeNode neighbour = entry.Key;
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
float newMovementCostToNeighbour = currentNode.gCost + entry.Value;
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = Vector3.Distance(neighbour.worldPosition, targetNode.worldPosition);
neighbour.successor = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
requestManager.FinishedProcessingPath(waypoints, pathSuccess);
}
