Method findPath

packages/pathfinding/src/navmesh/NavMesh.ts:342–389

* @zh 在导航网格上寻路 * @en Find path on navigation mesh

(
        startX: number,
        startY: number,
        endX: number,
        endY: number,
        options?: IPathfindingOptions
    )

     * @en Find path on navigation mesh
     */
    findPath(
        startX: number,
        startY: number,
        endX: number,
        endY: number,
        options?: IPathfindingOptions
    ): IPathResult {
        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };

        const startPolygon = this.findPolygonAt(startX, startY);
        const endPolygon = this.findPolygonAt(endX, endY);

        if (!startPolygon || !endPolygon) {
            return EMPTY_PATH_RESULT;
        }

        // Same polygon
        if (startPolygon.id === endPolygon.id) {
            return {
                found: true,
                path: [createPoint(startX, startY), createPoint(endX, endY)],
                cost: euclideanDistance(
                    createPoint(startX, startY),
                    createPoint(endX, endY)
                ),
                nodesSearched: 1
            };
        }

        // A* on polygon graph
        const polygonPath = this.findPolygonPath(startPolygon, endPolygon, opts);

        if (!polygonPath.found) {
            return EMPTY_PATH_RESULT;
        }

        // Convert polygon path to point path using funnel algorithm
        const start = createPoint(startX, startY);
        const end = createPoint(endX, endY);
        const pointPath = this.funnelPath(start, end, polygonPath.polygons);

        return {
            found: true,
            path: pointPath,
            cost: this.calculatePathLength(pointPath),
            nodesSearched: polygonPath.nodesSearched
        };
    }

    /**
     * @zh 在多边形图上寻路