IEnumerator FindPath(Vector3 StartPosition, Vector3 TargetPosition)
{
Node StartNode = Grid.WorldPointToNode(StartPosition);
Node TargetNode = Grid.WorldPointToNode(TargetPosition);
Vector3[] waypoints = new Vector3[0];
bool pathsuccess = false;
if (StartNode.Walkable && TargetNode.Walkable)
{
Heap <Node> openSet = new Heap <Node>(grid.MaxSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(StartNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == TargetNode)
{
//path found
pathsuccess = true;
break;
}
foreach (Node neighbour in grid.GetNeighbours(currentNode))
{
if (!neighbour.Walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour);
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);
}
}
}
}
}
yield return(null);
if (pathsuccess)
{
waypoints = RetracePath(StartNode, TargetNode);
}
requestManager.FinisedProcessingPath(waypoints, pathsuccess);
}