public List <Vector2> FindPath(Node start, Node end)
{
List <Node> openSet = new List <Node>();
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(start);
while (openSet.Count > 0)
{
Node currentNode = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
if (openSet[i].FCost < currentNode.FCost || (openSet[i].FCost == currentNode.FCost && openSet[i].HCost < currentNode.HCost))
{
currentNode = openSet[i];
}
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
if (currentNode == end)
{
return(RetracePathVector2s(start, end));
}
foreach (Node neighbourNode in pathfindingGrid.GetNeighbours8(currentNode))
{
if (neighbourNode.Walkable == false || closedSet.Contains(neighbourNode) == true)
{
continue;
}
int newMovementCostToNeigbour = currentNode.GCost + GetDistance(currentNode, neighbourNode);
if (newMovementCostToNeigbour < neighbourNode.GCost || openSet.Contains(neighbourNode) == false)
{
neighbourNode.GCost = newMovementCostToNeigbour;
neighbourNode.HCost = GetDistance(neighbourNode, end);
neighbourNode.ParentNode = currentNode;
if (openSet.Contains(neighbourNode) == false)
{
openSet.Add(neighbourNode);
}
}
}
}
return(null);
}
