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Question by DayyanSisson · Dec 05, 2012 at 04:51 AM · pathfindingdistancewhilenodes

A* Pathfinding Bugs

I'm writing a simple A* pathfinding AI and I've run into a bug: the pathfinder jumps over gaps 1 node wide. So if I have 2 nodes, and then an empty space in-between where they aren't adjacent, it just jumps that gap and moves on to the second node. I tried restricting the nodes it could find by distance but that didn't really affect anything. What am I doing wrong?

     public Vector2 pathfindingLayers;
 
     public Vector3[] offsets = new Vector3[8];
 
     public Transform holder;
 
     public List<Transform> nodes;
     public List<Transform> open;
     public List<Transform> closed;
 
     public Transform current;
     public Transform finish;
 
     public Material yellow;
     public Material green;
     public Material red;
 
 
     void Start () {
 
         int i = 0;
         while(i < holder.childCount){
             nodes.Add(holder.GetChild(i));
             i++;
         }
         open = FindAdjacentNodes();
     }
 
     void Update () {
     
         if(current != finish){
             CheckNode();
         }
     }
 
     void CheckNode () {
 
         float lowestF = Mathf.Infinity;
         Transform nextNode = null;
 
         int a = 0;
         while(a < open.Count){
             if(((current.position - open[a].position).magnitude + (finish.position - open[a].position).magnitude) < lowestF){
                 nextNode = open[a];
                 lowestF = (current.position - open[a].position).magnitude + (finish.position - open[a].position).magnitude;
             }
             a++;
         }
 
         if(!closed.Contains(current)){
             closed.Add(current);
         }
         current = nextNode;
         if(!closed.Contains(current)){
             closed.Add(current);
         }
         current.renderer.material = green;
         open = FindAdjacentNodes();
     }
 
     List<Transform> FindAdjacentNodes () {
 
         List<Transform> nodeList = new List<Transform>();
         nodeList.AddRange(nodes);
         List<Transform> adjacentNodes = new List<Transform>();
 
         int i = 0;
         while(i < 8){
             float closeDis = Mathf.Infinity;
             Transform closest = null;
             int a = 0;
             while(a < nodeList.Count){
                 if(nodeList[a] != current){
                     float distance = (nodeList[a].position - current.position).magnitude;
                     if(distance < closeDis && nodeList[a].gameObject.layer == pathfindingLayers.x){
                         closest = nodeList[a];
                         closeDis = distance;
                     }
                 }
                 a++;
             }
             adjacentNodes.Add(closest);
             nodeList.Remove(closest);
             i++;
         }
         return adjacentNodes;
     }
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