public PathFinderResult FindPath()
{
if (from == null || to == null)
{
return(new PathFinderResult());
}
//D(map);
//D("from:", from);
//D("to:", to);
var pathItems = new AStar(map, from, to, directionOffest, WeightFunction).Find();
if (!pathItems.Any())
{
D("NO_PATH");
return(PathFinderResult.NO_PATH);
}
var p = new PathFinderResult
{
Path = pathItems.Select(x => x.Pos).ToArray(),
WeightedLength = pathItems.Last().CumulativeLength
};
//D("found path:", p.WeightedLength);
return(p);
}