public List<int> PerformSearch(HierarchicalMap map, int startNodeId, int targetNodeId, int level, bool mainSearch)
{
var search = new AStar();
map.SetCurrentLevel(level);
var nodeInfo = map.AbstractGraph.GetNodeInfo(startNodeId);
if (mainSearch)
map.SetCurrentCluster(nodeInfo.Position, map.MaxLevel + 1);
else
map.SetCurrentCluster(nodeInfo.Position, level + 1);
// TODO: This could be perfectly replaced by cached paths in the clusters!
var path = search.FindPath(map, startNodeId, targetNodeId);
if (path.PathCost == -1)
{
// No path found
return new List<int>();
}
var result = path.PathNodes;
result.Reverse();
return result;
}
