create a path planning alogrithm in c# for a unity game that avoids obstacles implement it into the function below code :

$//$

Student code to build the path network from the given pathNodes and Obstacles

$$

$//$

Obstacles

$-$

$$List of obstacles on the plane

$$

$//$

agentRadius

$-$

$$the radius of the traversing agent

$$

$//$

minPoVDist AND maxPoVDist

$-$

$$used for Points of Visibility

$($

see assignment doc

$)$

$$

$//$

pathNodes

$-$

$$ref parameter that contains the pathNodes to connect

$($

or return if pathNetworkMode is set to PointsOfVisibility

$)$

$$

$//$

pathEdges

$-$

$$out parameter that will contain the edges you build.

$$

$//$

$$ Edges cannot intersect with obstacles or boundaries. Edges must be at least agentRadius distance

$$

$//$

$$ from all obstacle

$/$

boundary line segments. No self edges, duplicate edges. No null lists

$($

but can be empty

$)$

$$

$//$

pathNetworkMode

$-$

$$enum that specifies PathNetwork type

$($

see assignment doc

$)$

$$ public static void Create

$($

Vector

$2$

$$canvasOrigin$,$ float canvasWidth, float canvasHeight,

$$ List obstacles, float agentRadius, float minPoVDist, float maxPoVDist, ref List pathNodes, out List

$>$

$$pathEdges$,$

$$ PathNetworkMode pathNetworkMode

$)$

$$

$\{$

$$

$//$

STUDENT CODE HERE

$$ pathEdges

$=$

$$new List

$>$

$($

pathNodes

$.$

Count

$)$

;

$$ for

$($

int i

$=$

$0$

; i

$<$

$$pathNodes$.$Count;

$+$

$+$

i

$)$

$$

$\{$

$$ pathEges.Add

$($

new List

$())$

;

$$

$\}$

$$

$//$

$$END STUDENT CODE

$$

$\}$