IEnumerator HighlightPaths(Vector3 startPos, float magnitude)
{
HashSet <Node> highlight = new HashSet <Node>();
Node startNode = grid.NodeFromWorldPoint(startPos);
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);
Node neighbor;
for (int i = 0; i < currentNode.Neighbors.Count; i++)
{
neighbor = currentNode.Neighbors[i];
if (!neighbor.walkable || neighbor.isOccupied || closedSet.Contains(neighbor))
{
continue;
}
int newMovementCostToNeighbor = currentNode.gCost + GetDistance(currentNode, neighbor) + neighbor.movementPenalty;
if (!highlight.Contains(neighbor) || newMovementCostToNeighbor < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
neighbor.hCost = 0;
neighbor.parent = currentNode;
if (newMovementCostToNeighbor > magnitude)
{
neighbor.gCost = 0;
continue;
}
highlight.Add(neighbor);
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
else
{
openSet.UpdateItem(neighbor);
}
}
}
}
yield return(null);
foreach (Node node in closedSet)
{
node.resetCosts();
}
while (openSet.Count > 0)
{
Node node = openSet.RemoveFirst();
node.resetCosts();
}
pathRequestManager.FinishedProcessingHighlight(highlight);
}
