#pragma warning restore 649
public void FindPath(PathRequest request, Action <PathResult> callback)
{
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
PathNode startNode = _grid.NodeFromWorldPoint(request.pathStart);
PathNode targetNode = _grid.NodeFromWorldPoint(request.pathEnd);
if (startNode.Walkable && targetNode.Walkable)
{
Heap <PathNode> openSet = new Heap <PathNode>(_grid.MaxSize);
HashSet <PathNode> closedSet = new HashSet <PathNode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
PathNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
/*sw.Stop();
* UnityEngine.Debug.Log("Path found in " + sw.Elapsed);*/
pathSuccess = true;
break;
}
foreach (PathNode neighbour in _grid.GetNeighbours(currentNode))
{
if (!neighbour.Walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour =
currentNode.GCost +
Mathf.RoundToInt(GetDistance(currentNode, neighbour) * neighbour.MovementPenalty);
if (newMovementCostToNeighbour < neighbour.GCost || !openSet.Contains(neighbour))
{
neighbour.GCost = newMovementCostToNeighbour;
neighbour.HCost = GetDistance(neighbour, targetNode);
neighbour.Parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
pathSuccess = waypoints.Length > 0;
}
callback(new PathResult(waypoints, pathSuccess, request.callback));
}
}
public void RequestPath(PathRequest request)
{
ThreadStart threadStart = delegate { _pathfinder.FindPath(request, FinishProcessingPath); };
threadStart.Invoke();
}