void FindPath(Vector2 startPosition, Vector2 targetPosition)
{
PathfindingNode startNode = grid.GetNodeFromWorldPoint(startPosition);
PathfindingNode targetNode = grid.GetNodeFromWorldPoint(targetPosition);
List <PathfindingNode> openSet = new List <PathfindingNode>();
HashSet <PathfindingNode> closedSet = new HashSet <PathfindingNode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
PathfindingNode currentNode = openSet[0];
for (int i = 0; i < openSet.Count; i++)
{
if (openSet[i].fCost < currentNode.fCost ||
openSet[i].fCost == currentNode.fCost)
{
if (openSet[i].hCost < currentNode.hCost)
{
currentNode = openSet[i];
}
}
openSet.Remove(currentNode);
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
RetracePath(startNode, targetNode);
return;
}
foreach (PathfindingNode neighbor in grid.GetNeighbors(currentNode))
{
if (!neighbor.isWalkable || closedSet.Contains(neighbor))
{
continue;
}
int newMovementCostToNeighbor = currentNode.gCost + GetDistance(currentNode, neighbor);
if (newMovementCostToNeighbor < neighbor.gCost || !openSet.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
neighbor.hCost = GetDistance(neighbor, targetNode);
neighbor.parent = currentNode;
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
}
}
}
}
}