public virtual NavigationData GetNavigationData(Position startPosition, Position targetPosition)
{
if (!_grid.IsWalkable(targetPosition))
{
return(null);
}
var navigationData = new NavigationData
{
Destination = targetPosition,
RemainingStepsInCurrentSegment = new Stack <Position>(),
LastStep = startPosition
};
if (startPosition == targetPosition)
{
return(navigationData);
}
IList <Position> line = _rasterLineCreator.GetRasterLinePermissive(startPosition.x, startPosition.y, targetPosition.x,
targetPosition.y, _grid.IsWalkable);
bool rasterLineReachesTarget = line.Last() == targetPosition;
if (rasterLineReachesTarget)
{
_debugPathPresenter.PresentStraight(line);
// performance: if GetRasterLinePermissive returned a stack, we wouldn't need to allocate memory for the list
navigationData.RemainingNodes = new[] { targetPosition }.ToList();
return(navigationData);
}
PathfindingResponse result = _pathfinder.FindJumpPointsWithJps(startPosition, targetPosition);
if (result.Result != PathfindingResult.Success)
{
return(null);
}
IEnumerable <Position> naturalJumpPoints = _naturalLineCreator.GetNaturalJumpPoints(result.Positions).Skip(1);
navigationData.RemainingNodes = naturalJumpPoints.ToList();
_debugPathPresenter.PresentNonStraight(navigationData.RemainingNodes);
return(navigationData);
}