From 61cf79d1720ecd3066e0883cb88f301d541a0c44 Mon Sep 17 00:00:00 2001
From: kercylan98 <kercylan@gmail.com>
Date: Mon, 19 Jun 2023 19:46:09 +0800
Subject: [PATCH] =?UTF-8?q?:sparkles:=20=E9=80=9A=E8=BF=87=20A*=20?=
 =?UTF-8?q?=E6=89=BE=E5=88=B0=E8=B7=AF=E5=BE=84?=
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---
 utils/geometry/navmesh/navmesh.go | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/utils/geometry/navmesh/navmesh.go b/utils/geometry/navmesh/navmesh.go
index 07fbbb6..53ea989 100644
--- a/utils/geometry/navmesh/navmesh.go
+++ b/utils/geometry/navmesh/navmesh.go
@@ -1,6 +1,7 @@
 package navmesh
 
 import (
+	"github.com/kercylan98/minotaur/utils/astar"
 	"github.com/kercylan98/minotaur/utils/generic"
 	"github.com/kercylan98/minotaur/utils/geometry"
 	"github.com/kercylan98/minotaur/utils/maths"
@@ -23,6 +24,10 @@ type NavMesh[V generic.SignedNumber] struct {
 	meshShrinkAmount V
 }
 
+func (slf *NavMesh[V]) Neighbours(node *shape[V]) []*shape[V] {
+	return node.links
+}
+
 // Find 在网格中找到与给定点最近的点。如果该点已经在网格中，这将为您提供该点。如果点在网格之外，这将尝试将此点投影到网格中（直到给定的 maxDistance）
 func (slf *NavMesh[V]) Find(point geometry.Point[V], maxDistance V) (distance V, findPoint geometry.Point[V], findShape geometry.Shape[V]) {
 	var minDistance = maxDistance
@@ -113,10 +118,17 @@ func (slf *NavMesh[V]) FindPath(start, end geometry.Point[V]) (result []geometry
 		return append(result, start, end)
 	}
 
-}
+	path := astar.Find[*shape[V], V](slf, startShape, endShape, func(a, b *shape[V]) V {
+		return geometry.CalcDistance(geometry.DoublePointToCoordinate(a.centroid, b.centroid))
+	}, func(a, b *shape[V]) V {
+		return geometry.CalcDistance(geometry.DoublePointToCoordinate(a.centroid, b.centroid))
+	})
 
-func (slf *NavMesh[V]) aStar() {
+	if len(path) == 0 {
+		return
+	}
 
+	path = append([]*shape[V]{startShape}, path...)
 }
 
 func (slf *NavMesh[V]) generateLink() {