Calculate WalkTo Pathing

#   ROUTINE: Calculate WalkTo pathing?
#       Parameters:
#           r4              =   ElevationAddend (256 or 0)
#           r5              =   p2 (= 3?)
#           r6              =   Start X
#           r7              =   Start Y
#           *(sp + 0x10)    =   Start Higher Elevation
#           *(sp + 0x14)    =   Destination X
#           *(sp + 0x18)    =   Destination Y
#           *(sp + 0x1c)    =   Destination Higher Elevation

801780ec: 27bdffc0 addiu r29,r29,-0x0040
801780f0: 8fa30050 lw r3,0x0050(r29)                #   Start Higher Elevation
801780f4: 8fa80054 lw r8,0x0054(r29)                #   Destination X
801780f8: 8fa90058 lw r9,0x0058(r29)                #   Destination Y
801780fc: 8faa005c lw r10,0x005c(r29)               #   Destination Higher Elevation
80178100: 34020001 ori r2,r0,0x0001                 #   1
80178104: afa20020 sw r2,0x0020(r29)                #   1
80178108: 27a20030 addiu r2,r29,0x0030              #   pathResult
8017810c: afbf0038 sw r31,0x0038(r29)
80178110: afa20024 sw r2,0x0024(r29)                #   pathResult
80178114: afa00028 sw r0,0x0028(r29)                #   0
80178118: afa30010 sw r3,0x0010(r29)                #   Start Higher Elevation
8017811c: afa80014 sw r8,0x0014(r29)                #   Destination X
80178120: afa90018 sw r9,0x0018(r29)                #   Destination Y
80178124: 0c05e04f jal 0x8017813c                   #   return Calculate Pathing (ElevationAddend, p2, Start X, Start Y, Start Higher Elevation, 
                                                    #       Destination X, Destination Y, Destination Higher Elevation, 1, pathResult, 0);
80178128: afaa001c sw r10,0x001c(r29)               #   Destination Higher Elevation
8017812c: 8fbf0038 lw r31,0x0038(r29)
80178130: 27bd0040 addiu r29,r29,0x0040
80178134: 03e00008 jr r31
80178138: 00000000 nop