public PathFinder(int[,,] grid, IPathRequiment pathRequiment)
{
if (grid == null)
{
throw new Exception("Grid cannot be null");
}
mGrid = grid;
mCLZdist = pathRequiment.Clearance;
mANGlength = pathRequiment.MinAngleDistance;
}
public static List <PathFinderNode> GetPathByMap(IMap Map, IPathRequiment pathRequiment)
{
List <PathFinderNode> path = new List <PathFinderNode>();
List <sbyte[, ]> searchPlanes = ElementPosition.GetPlane(Map.Start, Map.Goal);
PathFinder mPathFinder = new PathFinder(Map.Matrix, pathRequiment);
foreach (sbyte[,] item in searchPlanes)
{
path = mPathFinder.FindPath(Map.Start, Map.Goal, item);
if (path != null)
{
return(path);
}
}
return(path);
}
