public IEnumerable <Vector3> CalculatePath(Vector3 start, Vector3 end)
{
var startNode = GetClosestNode(start);
var endNode = GetClosestNode(end);
if (startNode == null || endNode == null || !endNode.IsPassable)
{
Logger.Info("Aborting pathfinding because start and/or end are null or impassable.");
yield break;
}
var route = _graph.Search(startNode, endNode);
if (route == null)
{
Logger.Warn($"Graph search failed to find a path between {start} and {end}.");
yield break;
}
PathOptimizer.RemoveRedundantNodes(route);
PathOptimizer.SmoothPath(route, _graph);
foreach (var node in route)
{
var pos = GetNodePosition(node);
yield return(new Vector3(pos.X, pos.Y, _heightMap.GetHeight(pos.X, pos.Y)));
}
}
public IList <Vector3> CalculatePath(Vector3 start, Vector3 end, out bool endIsPassable)
{
var result = new List <Vector3>();
endIsPassable = true;
var startNode = GetClosestNode(start);
var endNode = GetClosestNode(end);
if (!startNode.IsPassable)
{
startNode = GetNextPassablePosition(start, end);
}
if (!endNode.IsPassable)
{
endNode = GetNextPassablePosition(end, start);
endIsPassable = false;
}
if (startNode == null || endNode == null)
{
Logger.Info("Aborting pathfinding because start and/or end are null");
return(result);
}
var route = _graph.Search(startNode, endNode);
if (route == null)
{
Logger.Warn($"Graph search failed to find a path between {start} and {end}.");
return(result);
}
PathOptimizer.RemoveRedundantNodes(route);
PathOptimizer.SmoothPath(route, _graph);
foreach (var node in route)
{
var pos = GetNodePosition(node);
result.Add(new Vector3(pos.X, pos.Y, _heightMap.GetHeight(pos.X, pos.Y)));
}
return(result);
}