public void GetOutdoorPath(Vector3 pos, OnPathfindingArrival onArrival)
{
if (outdoorGrid == null)
{
outdoorGrid = GameObject.Find("OutdoorPlane").GetComponent <OutdoorGrid>();
}
outdoorTargetNode = outdoorGrid.NodeFromWorldPoint(pos);
OutdoorPathRequestManager.RequestPath(transform.position, pos, OnOutdoorPathFound);
SetOnArrival(onArrival);
}
IEnumerator FindPath(Vector3 startPos, Vector3 targetPos)
{
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
OutdoorNode startNode = grid.NodeFromWorldPoint(startPos);
OutdoorNode targetNode = grid.NodeFromWorldPoint(targetPos);
if (true)
{
Heap <OutdoorNode> openSet = new Heap <OutdoorNode>(grid.MaxSize);
HashSet <OutdoorNode> closedSet = new HashSet <OutdoorNode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
OutdoorNode currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
pathSuccess = true;
break;
}
foreach (OutdoorNode neighbour in grid.GetNeighbours(currentNode))
{
int extraMovementPenalty = 0;
foreach (OutdoorNode neighbour_ in grid.GetNeighbours(neighbour))
{
if (neighbour_.drivable || neighbour_.empty)
{
extraMovementPenalty = 10;
}
}
if (closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.gCost + GetDistance(currentNode, neighbour) + neighbour.movementPenalty + extraMovementPenalty;
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);
}
}
}
}
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
requestManager.FinishedProcessingPath(waypoints, targetPos, pathSuccess);
}