private void FindPath(Vector3 startPosition, Vector3 targetPosition)
{
Node startNode = _grid.NodeFromWorldPoint(startPosition);
Node targetNode = _grid.NodeFromWorldPoint(targetPosition);
List <Node> openSet = new List <Node>();
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet[0];
for (int i = 0; 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 == targetNode)
{
RetracePath(startNode, targetNode);
return;
}
foreach (Node neighbour in _grid.GetNeighbours(currentNode))
{
if (closedSet.Contains(neighbour))
{
continue;
}
switch (neighbour.NodeType)
{
case NodeType.Walkable:
break;
case NodeType.NotWalkable:
continue;
case NodeType.Climable:
break;
default:
break;
}
int newMovementCostToNeighbor = currentNode.GCost + GetDistance(currentNode, neighbour);
if (newMovementCostToNeighbor < neighbour.GCost || !openSet.Contains(neighbour))
{
neighbour.GCost = newMovementCostToNeighbor;
neighbour.HCost = GetDistance(neighbour, targetNode);
neighbour.Parent = currentNode;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
}
