Method findPath

plugins/pathFinder.js:743–788

Find a path from startPos to endPos in world space. Returns an array * of world-space Vector2 points; empty array if no path exists. * * Start and end are snapped to the nearest walkable tile via * getNearestClearNode. Intermediate points are tile centers unless the * st

(startPos, endPos)

     *  @returns {Vector2[]}
     *  @memberof PathFinding */
    findPath(startPos, endPos)
    {
        ASSERT(isVector2(startPos) && isVector2(endPos), 'findPath needs Vector2 endpoints');

        this.buildNodeData();

        // rebuild=false because we just built — avoid redundant work per snap.
        const startNode = this.getNearestClearNode(startPos, 10, false);
        const endNode = this.getNearestClearNode(endPos, 10, false);
        if (!startNode || !endNode) return [];

        // Trivial case: start and end snapped to the same tile.
        if (startNode === endNode) return [startNode.posWorld.copy()];

        if (!this.aStarSearch(startNode, endNode)) return [];

        // Walk back from endNode via parent pointers, then reverse — cheaper
        // than unshifting on every step.
        const nodePath = [];
        for (let n = endNode; n; n = n.parent)
            nodePath.push(n);
        nodePath.reverse();

        if (this.smoothPath)
        {
            this.smoothPathCorners(nodePath);
            this.smoothPathStringPull(nodePath);
            this.dropCollinearNodes(nodePath);
        }

        // Convert to world-space Vector2 path. Return copies, not live node
        // references — callers shouldn't be able to mutate the grid.
        const result = nodePath.map(n => n.posWorld.copy());

        if (this.debug && this.debugTime > 0 && result.length > 0)
        {
            for (let i = 1; i < result.length; ++i)
                debugLine(result[i - 1], result[i], RED, 0.1, this.debugTime);
            for (const p of result)
                debugCircle(p, 0.5, rgb(1, 0, 0, 0.3), this.debugTime);
            debugCircle(result[0], 0.5, rgb(0, 1, 0, 0.5), this.debugTime);
            debugCircle(result[result.length - 1], 0.5, rgb(0, 1, 0, 0.5), this.debugTime);
        }

        return result;
    }
}