public IEnumerable <Vector2> GetPath(Vector2 start, Vector2 end)
{
_excludedContours = new List <int>();
var result = new List <Vector2>();
_currentPoint = start;
_goal = end;
_tracer = new PathTracer(_contours, _goal, _excludedContours);
do
{
result.Add(_currentPoint);
List <IntersectedContour> intersectedContours = Utils.GetIntersectedContours(_currentPoint, _goal, _contours);
if (intersectedContours.Count == 0)
{
break;
}
intersectedContours.Sort(SortByDistance);
var contour = intersectedContours.FirstOrDefault(item => _excludedContours.IndexOf(item.Contour.Id) < 0);
if (contour == null)
{
throw new Exception("Can't find path because all contoures are excluded!");
}
_currentPoint = contour.IntersectionPoint;
result.Add(_currentPoint);
_currentPoint = _tracer.Trace(_currentPoint, result, contour.Contour);
} while (true);
result.Add(_goal);
return(result);
}
private void TracePolygons(IPolygon[] polygons)
{
tracer = new PathTracer(polygons, goal, excludedPolygons);
do
{
var intersection = FindNearestPolygonIntersection(polygons);
if (intersection == null)
{
return;
}
currentPoint = intersection.Intersection;
currentPath.Add(currentPoint);
currentPoint = tracer.Trace(currentPoint, currentPath, intersection.Polygon);
currentPath.Add(currentPoint);
} while (true);
}
