public void FindPath(Position startPos, Position targetPos)
{
Tile startTile = tilemap[startPos.y][startPos.x].GetComponent <Tile>();
Tile targetTile = tilemap[targetPos.y][targetPos.x].GetComponent <Tile>();
List <Tile> openSet = new List <Tile>();
HashSet <Tile> closedSet = new HashSet <Tile>();
openSet.Add(startTile);
while (openSet.Count > 0)
{
Tile currentTile = openSet[0];
for (int i = 1; i < openSet.Count; i++)
{
// If the tile is "closer" (f cost) to the target or the tile has the same distance to the target but is closer to the starting node
if (openSet[i].fCost < currentTile.fCost || openSet[i].fCost == currentTile.fCost)
{
if (openSet[i].hCost < currentTile.hCost)
{
currentTile = openSet[i];
}
}
}
openSet.Remove(currentTile);
closedSet.Add(currentTile);
if (currentTile == targetTile)
{
path = RetracePath(startTile, targetTile);
return;
}
foreach (Tile neighbour in tilemapManager.getNeighbours(currentTile))
{
if (!neighbour.isWalkable || closedSet.Contains(neighbour))
{
continue;
}
int newMovementCostToNeighbour = currentTile.gCost + getDistance(currentTile, neighbour) + neighbour.weight;
if (newMovementCostToNeighbour < neighbour.gCost || !openSet.Contains(neighbour))
{
neighbour.gCost = newMovementCostToNeighbour;
neighbour.hCost = getDistance(neighbour, targetTile);
neighbour.parent = currentTile;
if (!openSet.Contains(neighbour))
{
openSet.Add(neighbour);
}
}
}
}
}