public List <Node> FindPath(Vector3 start, Vector3 end)
{
Node startN = grid.NodeFromWorldPoint(start);
Node endN = grid.NodeFromWorldPoint(end);
List <Node> open = new List <Node>();
HashSet <Node> closed = new HashSet <Node>();
open.Add(startN);
while (open.Count > 0)
{
Node curr = open[open.Count - 1];
open.RemoveAt(open.Count - 1);
closed.Add(curr);
if (curr == endN)
{
return(MakePath(startN, endN));
}
List <Node> nearby = new List <Node>();
foreach (Node n in grid.GetNearbyNodes(curr))
{
if (n.isSolid || closed.Contains(n))
{
continue;
}
if (!open.Contains(n))
{
n.parent = curr;
n.gCost = curr.gCost + ManhattanDistance(n, curr);
n.hCost = ManhattanDistance(n, curr);
nearby.Add(n);
}
}
nearby.Sort((x, y) => y.fCost - x.fCost);
open = MergeLists(open, nearby);
}
return(new List <Node>());
}
