public static NavigationResult GetPath(IMapData Map, Vector3 StartPosition, Vector3 GoalPosition, Number Radius)
{
INode goalNode = Map.GetNode(GoalPosition);
INode startNode = Map.GetNode(StartPosition);
NavigationResult.Types type = NavigationResult.Types.Complete;
if (goalNode == null || (goalNode.State != NodeStates.Walkable && goalNode != startNode))
{
goalNode = Map.GetNearestNode(GoalPosition, Radius, NodeStates.Walkable);
type = NavigationResult.Types.Partial;
}
Vector3[] path = CalculatePath(Map, startNode, goalNode);
if (path == null)
{
return(null);
}
return(new NavigationResult(path, type));
}