internal void AssertEdgesPresentAndPassable(List<Point> path) {
var vs = VisGraph.FindVertex(path[0]);
Debug.Assert(vs != null);
var vt = VisGraph.FindVertex(path[path.Count - 2]);
Debug.Assert(vt != null);
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = true;
var router = new SingleSourceSingleTargetShortestPathOnVisibilityGraph(_visGraph, vs, vt) {
LengthMultiplier = 0.8,
LengthMultiplierForAStar = 0.0
};
List<VisibilityEdge> pathEdges = new List<VisibilityEdge>();
for (int i = 0; i < path.Count - 1; i++)
{
var edge = FindEdge(path[i], path[i + 1]);
Debug.Assert(edge != null);
pathEdges.Add(edge);
}
router.AssertEdgesPassable(pathEdges);
vs.IsShortestPathTerminal = vt.IsShortestPathTerminal = false;
}
