public void doPathFinding()
{
Node firstNode = new Node(m_current, null, m_end, m_start);
finalPath = new EnemyPathing();
OpenList openedList = new OpenList();
openedList.insertToOpenList(firstNode);
ClosedList closedList = new ClosedList();
SearchLvl search_lvl = new SearchLvl();
while (openedList.isEmpty() == false)
{
Node secondNodes = openedList.get0();
Node secondNode = new Node(secondNodes.getPosition(), secondNodes.returnPrev(), m_end, m_start);
openedList.remove0Fromlist();
closedList.insertToClosedList(secondNode);
if (Physics2D.OverlapBox(new Vector2(secondNode.getPosition().x, secondNode.getPosition().y), new Vector2(m_halfWidth / 2, m_halfWidth / 2), 0, targetMask))
{
results = secondNode;
break;
}
List <Node.Position> adjacentPositions = search_lvl.getAdjacentNodes(secondNode.getPosition().x, secondNode.getPosition().y, tileWid);
for (int i = 0; i < adjacentPositions.Count; i++)
{
if (closedList.isInClosedList(adjacentPositions[i]))
{
continue;
}
int inter = openedList.findFromOpenList(secondNode.getPosition()); //returns -1 if there was no match, iterator cant be negative anyway
Node previousNode = new Node(adjacentPositions[i], secondNode, m_end, m_start);
if (inter != -1)
{
//has been found in open list
if (openedList.returnAt(inter).getDistanceFromStart() > previousNode.getDistanceFromStart()) //the new distance is smaller
{
openedList.returnAt(inter).setPrev(secondNode);
//setting the previous node that is found at the index
}
}
else
{
//lineDrawer(previousNode.getPosition().x, previousNode.getPosition().y);
//This method just creates a box, used for debugging purposes only!
openedList.insertToOpenList(previousNode);
}
}
}
if (results != null)
{
while (results != null)
{
if (results.returnPrev() == null)
{
finalPath.insertToPath(results);
results = null;
donePathFind = true;
}
else
{
//Debug.DrawLine(new Vector2(results.getPosition().x, results.getPosition().y), new Vector2(results.returnPrev().getPosition().x, results.returnPrev().getPosition().y), Color.red, 1, false);
finalPath.insertToPath(results);
//draw a line to prev
results = results.returnPrev();
}
}
finalPath.Reversed();
}
else
{
donePathFind = true;
finalPath = null;
//NOT FOUND
}
}
