private bool SuitablePositionFound()
{
for (int i = 0; i < findPosTries; i++)
{
float newX = Random.Range(-0.5f * _grid.GridWorldSize.x, +0.5f * _grid.GridWorldSize.x);
float newY = Random.Range(-0.5f * _grid.GridWorldSize.y, +0.5f * _grid.GridWorldSize.y);
_newWorldPos = new Vector3(newX, 1, newY);
if (_grid.NodeFromWorldInput(_newWorldPos).Walkable&&
!ObstacleInArea(_newWorldPos))
{
return(true);
}
}
return(false);
}
IEnumerator FindPath(Vector3 startPos, Vector3 targetPos)
{
Vector3[] waypoints = new Vector3[0];
bool pathSuccess = false;
Node startNode = _grid.NodeFromWorldInput(startPos);
Node targetNode = _grid.NodeFromWorldInput(targetPos);
if (startNode.Walkable && targetNode.Walkable)
{
Heap <Node> openSet = new Heap <Node>(_grid.MaxSize);
HashSet <Node> closedSet = new HashSet <Node>();
openSet.Add(startNode);
while (openSet.Count > 0)
{
Node currentNode = openSet.RemoveFirst();
closedSet.Add(currentNode);
if (currentNode == targetNode)
{
pathSuccess = true;
break;
}
foreach (Node neighbour in _grid.GetNeighbours(currentNode))
{
if (!neighbour.Walkable || closedSet.Contains(neighbour))
{
continue;
}
int newMoveCostToNeighbour = currentNode.GCost + GetDistance(currentNode, neighbour);
if (newMoveCostToNeighbour < neighbour.GCost ||
!openSet.Contains(neighbour))
{
neighbour.GCost = newMoveCostToNeighbour;
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, pathSuccess);
}
