private static IEnumerable <IEnumerable <Point> > RestorePathStages(List <WaypointEntry> waypointEntries, VertexEntry lastEntry)
{
// Back up to restore the path stages back to each waypoint.
var paths = new List <IEnumerable <Point> >();
waypointEntries.Reverse();
foreach (var waypointEntry in waypointEntries)
{
paths.Add(SsstRectilinearPath.RestorePath(ref lastEntry, waypointEntry.waypointVector[0]));
}
// Add the first stage.
paths.Add(SsstRectilinearPath.RestorePath(lastEntry));
paths.Reverse();
return(paths);
}
/// <summary>
/// Get the lowest-cost path from one of one or more sources to one of one or more targets, without waypoints.
/// </summary>
/// <param name="sources">One or more source vertices</param>
/// <param name="targets">One or more target vertices</param>
/// <returns>A single enumeration of path points.</returns>
internal IEnumerable <Point> GetPath(IEnumerable <VisibilityVertex> sources, IEnumerable <VisibilityVertex> targets)
{
var entry = GetPathStage(null, sources, null, targets);
return(SsstRectilinearPath.RestorePath(entry));
}