IEnumerator FindPath(Vector3 startPosition, Vector3 targetPosition)
{
Vector3[] waypoints = new Vector3[0];
bool success = false;
Node startNode = grid.NodeFromWorldPoint(startPosition);
Node targetNode = grid.NodeFromWorldPoint(targetPosition);
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)
{
success = true;
break;
}
foreach (Node neighbor in grid.GetNeighbors(currentNode))
{
if (!neighbor.walkable && neighbor != targetNode || closedSet.Contains(neighbor))
{
continue;
}
int newMovementCostToNeighbor = currentNode.gCost + GetDistance(currentNode, neighbor);
if (newMovementCostToNeighbor < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
neighbor.hCost = GetDistance(neighbor, targetNode);
neighbor.parent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
else
{
openSet.UpdateItem(neighbor);
}
}
}
}
yield return(null);
if (success)
{
waypoints = TracePath(startNode, targetNode);
}
requestManager.FinishProcessing(waypoints, success);
}
