IEnumerator FindPath(Vector3 startPos, Vector3 targetPos)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] wayPoints = new Vector3[0];
bool pathSuccess = false;
Node startNode = grid.NodefromWorldPosition(startPos);
Node targetNode = grid.NodefromWorldPosition(targetPos);
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)
{ // 結束條件
pathSuccess = true;
sw.Stop();
//print("Cost: " + sw.ElapsedMilliseconds + "ms");
break;
}
foreach (Node neighbor in grid.getNeighbours(currentNode))
{
if (!neighbor.walkable || closedSet.Contains(neighbor))
{
continue;
}
int newMovementCost_toNeighbor = currentNode.gCost + getDistance(currentNode, neighbor) + neighbor.movementPenalty;
if (newMovementCost_toNeighbor < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMovementCost_toNeighbor;
neighbor.hCost = getDistance(neighbor, targetNode);
neighbor.pareent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
else
{
openSet.UpdateItem(neighbor);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
wayPoints = RetracePath(startNode, targetNode);
}
pathRequestManager.FinshedProcessingPath(wayPoints, pathSuccess);
}
IEnumerator FindPath(Vector3 StartPosition, Vector3 TargetPosition)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] Waypoints = new Vector3[0];
bool IsPathSuccess = false;
StarNode StartNode = Gird.GetNodeFromWorldPoint(StartPosition);
StarNode TargetNode = Gird.GetNodeFromWorldPoint(TargetPosition);
if (StartNode.IsWalkable && TargetNode.IsWalkable)
{
Heap <StarNode> OpenSet = new Heap <StarNode>(Gird.MaxSize);
HashSet <StarNode> ClosedSet = new HashSet <StarNode>();
OpenSet.Add(StartNode);
while (OpenSet.Count > 0)
{
StarNode CurrentNode = OpenSet.RemoveFirst();
ClosedSet.Add(CurrentNode);
if (CurrentNode == TargetNode)
{
sw.Stop();
print("Path found: " + sw.ElapsedMilliseconds + " ML");
IsPathSuccess = true;
break;
}
foreach (StarNode Neighbor in Gird.GetNeighbors(CurrentNode))
{
if (!Neighbor.IsWalkable || ClosedSet.Contains(Neighbor))
{
continue;
}
int NewMovementCostToNeighour = CurrentNode.Gcost + GetDistance(CurrentNode, Neighbor);
if (NewMovementCostToNeighour < Neighbor.Gcost || !OpenSet.Contains(Neighbor))
{
Neighbor.Gcost = NewMovementCostToNeighour;
Neighbor.Hcost = GetDistance(Neighbor, TargetNode);
Neighbor.NodeParent = CurrentNode;
if (!OpenSet.Contains(Neighbor))
{
OpenSet.Add(Neighbor);
OpenSet.UpdateItem(Neighbor);
}
}
}
}
}
yield return(null);
if (IsPathSuccess)
{
Waypoints = RetracePath(StartNode, TargetNode);
}
RequestManager.FinshedProcessingPath(Waypoints, IsPathSuccess);
}
