// Публичные методы
public static List <Node> FindPath(NavigationGraph navigationGraph,
NavigationAgent navigationAgent,
NavigationNode destination)
{
Node temporaryPathOriginNode = navigationGraph.Graph.AddNode(navigationAgent.transform.position);
Arc temporaryBackArc = navigationGraph.Graph.AddArc(temporaryPathOriginNode,
navigationAgent.RareNode,
Directedness.Undirected);
Arc temporaryForwardArc = navigationGraph.Graph.AddArc(temporaryPathOriginNode,
navigationAgent.FrontNode,
Directedness.Undirected);
IPath path = FindGraphPath(navigationGraph, navigationAgent, destination);
List <Node> pathAsNodeList = PathToNodeList(path);
DeleteTemporaryNodeAndArcs(navigationGraph,
temporaryPathOriginNode,
temporaryForwardArc,
temporaryBackArc);
return(pathAsNodeList);
}
private static void DeleteTemporaryNodeAndArcs(NavigationGraph navigationGraph,
Node originNode,
Arc forwardArc,
Arc backArk)
{
navigationGraph.Graph.DeleteArc(backArk);
navigationGraph.Graph.DeleteArc(forwardArc);
navigationGraph.Graph.DeleteNode(originNode);
}
// Приватные методы
private static IPath FindGraphPath(NavigationGraph navigationGraph,
NavigationAgent navigationAgent,
NavigationNode destination)
{
IPath pathBack = navigationGraph.Graph.FindPath(navigationAgent.RareNode,
destination.Node,
Dfs.Direction.Undirected);
IPath pathForward = navigationGraph.Graph.FindPath(navigationAgent.FrontNode,
destination.Node,
Dfs.Direction.Undirected);
IPath shortestPath = pathBack.NodeCount() > pathForward.NodeCount() ? pathForward : pathBack;
return(shortestPath);
}