feat(pkg): Add pathfinding edge pkg to packages dir

packages/pathfinding-edge/src/edge/generatePath.ts

@@ -0,0 +1,34 @@
+import { AStarFinder, Util, DiagonalMovement, Heuristic } from 'pathfinding'
+import type { Grid } from 'pathfinding'
+import { XYPosition } from '@braks/vue-flow'
+
+// https://www.npmjs.com/package/pathfinding#advanced-usage
+declare module 'pathfinding' {
+  interface FinderOptions extends Heuristic {
+    diagonalMovement?: DiagonalMovement
+    weight?: number
+    allowDiagonal?: boolean
+    dontCrossCorners?: boolean
+  }
+}
+
+export const generatePath = (grid: Grid, start: XYPosition, end: XYPosition): number[][] => {
+  const finder = new AStarFinder({
+    diagonalMovement: DiagonalMovement.Always,
+    allowDiagonal: true,
+    dontCrossCorners: true,
+  })
+
+  let path: number[][] = []
+
+  try {
+    path = finder.findPath(start.x, start.y, end.x, end.y, grid)
+    path = Util.smoothenPath(grid, path)
+  } catch {
+    // No path was found. This can happen if the end point is "surrounded"
+    // by other nodes, or if the starting and ending nodes are on top of
+    // each other.
+  }
+
+  return path
+}