public Stack <Vector2> GetShortestPath(Vector2 start, Vector2 finish)
{
if (NodeMap == null)
{
NodeMap = new Pathfinding.NodeMap(1, 1, 1); //TODO: remove these two lines. Need them right now to stop a null ref exception since NodeMap is null
}
// Translate start and finish to non-blocked nodes from node map
Node closestStartNode = NodeMap.TranslateToNode(start, false);
Node closestFinishNode = NodeMap.TranslateToNode(finish, false);
if (closestStartNode == null || closestFinishNode == null) // return null if there is no path
{
return(null);
}
Stack <Node> shortestNodePath = Astar(closestStartNode, closestFinishNode);
if (shortestNodePath == null) // there is no path, its blocked completely
{
return(null);
}
List <Node> shortestNodePathArray = shortestNodePath.ToList <Node>();
Stack <Vector2> path = new Stack <Vector2>();
for (int i = shortestNodePathArray.Count - 1; i >= 0; i--)
{
path.Push(shortestNodePathArray[i].ToVector2());
}
//DrawDebug.DrawPoints(path.ToList()); // Draw shortest path for debug
return(path);
}
public AstarPathfinder(NodeMap nodeMap)
{
NodeMap = nodeMap;
}