private IEnumerator FindPath(Vector3 startPosition, Vector3 targetPosition)
{
Vector2[] waypoints = new Vector2[0];
bool pathSuccess = false;
Node startNode = grid.NodeFromWorldPoint(startPosition);
Node targetNode = grid.GetNearestWalkableNode(grid.NodeFromWorldPoint(targetPosition), 5);
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)
{
pathSuccess = true;
break;
}
foreach (Node neighbour in grid.GetNeighours(currentNode))
{
if (!neighbour.walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCost = GetDistance(currentNode, neighbour) + currentNode.gCost;
bool neighbourWithinOpenSet = openSet.Contains(neighbour);
if (newMovementCost < neighbour.gCost || !neighbourWithinOpenSet)
{
neighbour.gCost = newMovementCost;
neighbour.hCost = GetDistance(neighbour, targetNode);
neighbour.parent = currentNode;
if (!neighbourWithinOpenSet)
{
openSet.Add(neighbour);
openSet.UpdateItem(neighbour);
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
pathRequestManager.FinishedProcessingPath(waypoints, pathSuccess);
}
