Function de_pathing::polyanya::find_path

pub(crate) fn find_path(
    graph: &VisibilityGraph,
    source: PointContext,
    target: PointContext,
    properties: PathQueryProps
) -> Option<Path>

Finds and returns a reasonable path between two points.

Source and target points must not lie inside or on the edge of the same triangle of the triangulation from which graph was created.

The path finding algorithm is based on (a modified) Polyanya:

Cui, M., Harabor, D. D., Grastien, A., & Data61, C. (2017, August). Compromise-free Pathfinding on a Navigation Mesh. In IJCAI (pp. 496-502).