private IEnumerator FindPath(Vector3 startPos, Vector3 targetPos)
{
Stopwatch sw = new Stopwatch();
sw.Start();
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
PathNode startNode = pathGrid.NodeFromWorldPoint(startPos);
PathNode targetNode = pathGrid.NodeFromWorldPoint(targetPos);
if (startNode.Walkable && targetNode.Walkable)
{
PathHeap <PathNode> openSet = new PathHeap <PathNode>(pathGrid.MaxSize);
HashSet <PathNode> closedSet = new HashSet <PathNode>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
PathNode currentNode = openSet.RemoveFirstItem();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
sw.Stop();
print("Path found: " + sw.ElapsedMilliseconds + " ms");
pathSuccess = true;
//RetracePath(startNode, targetNode);
//return;
break;
}
foreach (PathNode neighbour in pathGrid.GetNeighbour(currentNode))
{
if (neighbour == null)
{
continue;
}
if (!neighbour.Walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentNode.GCost + GetDistance(currentNode, neighbour) + neighbour.Hindrance;
if (newMovementCostToNeighbour < neighbour.GCost || openSet.Contains(neighbour) == false)
{
neighbour.GCost = newMovementCostToNeighbour;
neighbour.HCost = GetDistance(neighbour, targetNode);
neighbour.Parent = currentNode;
if (openSet.Contains(neighbour) == false)
{
openSet.Add(neighbour);
}
else
{
openSet.UpdateItem(neighbour);
}
}
}
}
// List<PathNode> tempList = openSet;
// HashSet<PathNode> tempList2 = closedSet;
}
yield return(null);
if (pathSuccess)
{
waypoints = RetracePath(startNode, targetNode);
}
requestManager.FinishProcessingPath(waypoints, pathSuccess);
}