private List <AbstractPathNode> GetPath(HierarchicalMap map, Id <AbstractNode> startNodeId, Id <AbstractNode> targetNodeId, int level, bool mainSearch)
{
map.SetCurrentLevelForSearches(level);
var nodeInfo = map.AbstractGraph.GetNodeInfo(startNodeId);
// TODO: This could be perfectly replaced by cached paths in the clusters!
Path <AbstractNode> path;
if (!mainSearch)
{
map.SetCurrentClusterByPositionAndLevel(nodeInfo.Position, level + 1);
var edgeInfo = map.AbstractGraph.GetEdges(startNodeId)[targetNodeId].Info;
path = new Path <AbstractNode>(edgeInfo.InnerLowerLevelPath, edgeInfo.Cost);
}
else
{
map.SetAllMapAsCurrentCluster();
var search = new AStar <AbstractNode>(map, startNodeId, targetNodeId);
path = search.FindPath();
}
if (path.PathCost == -1)
{
return(new List <AbstractPathNode>());
}
var result = new List <AbstractPathNode>(path.PathNodes.Count);
foreach (Id <AbstractNode> abstractNodeId in path.PathNodes)
{
result.Add(new AbstractPathNode(abstractNodeId, level));
}
return(result);
}
