/* */ public NavPath findPath(float sx, float sy, float tx, float ty, boolean optimize)
/* */ {
/* 91 */ Space source = findSpace(sx, sy);
/* 92 */ Space target = findSpace(tx, ty);
/* */
/* 94 */ if ((source == null) || (target == null)) {
/* 95 */ return null;
/* */ }
/* */
/* 98 */ for (int i = 0; i < this.spaces.size(); i++) {
/* 99 */ ((Space) this.spaces.get(i)).clearCost();
/* */ }
/* 101 */ target.fill(source, tx, ty, 0.0F);
/* 102 */ if (target.getCost() == 3.4028235E+38F) {
/* 103 */ return null;
/* */ }
/* 105 */ if (source.getCost() == 3.4028235E+38F) {
/* 106 */ return null;
/* */ }
/* */
/* 109 */ NavPath path = new NavPath();
/* 110 */ path.push(new Link(sx, sy, null));
/* 111 */ if (source.pickLowestCost(target, path)) {
/* 112 */ path.push(new Link(tx, ty, null));
/* 113 */ if (optimize) {
/* 114 */ optimize(path);
/* */ }
/* 116 */ return path;
/* */ }
/* */
/* 119 */ return null;
/* */ }
/* */ private void optimize(NavPath path) /* */ {
/* 161 */ int pt = 0;
/* */
/* 163 */ while (pt < path.length() - 2) {
/* 164 */ float sx = path.getX(pt);
/* 165 */ float sy = path.getY(pt);
/* 166 */ float nx = path.getX(pt + 2);
/* 167 */ float ny = path.getY(pt + 2);
/* */
/* 169 */ if (isClear(sx, sy, nx, ny, 0.1F)) /* 170 */ path.remove(pt + 1);
/* */ else /* 172 */ pt++;
/* */ }
/* */ }