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Fix pathfinding heuristic for teleport...

Browse source 
...(broken by the A* rewrite, 2009-04-23T20:10:43Z!cjhopman@gmail.com)

Bug was: pathfinding never tried small detour to find useful teleport.
This commit is contained in:
Ali El Gariani 2009-08-27 18:57:16 +00:00
parent 0d4be49678
commit 9de3732355
1 changed files with 23 additions and 4 deletions
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27
src/astarsearch.cpp
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@ -75,9 +75,28 @@ struct node {
, in(bad_search_counter)
{
}
node(double s, const map_location &c, const map_location &p, const map_location &dst, bool i) :
node(double s, const map_location &c, const map_location &p, const map_location &dst, bool i, const std::set<map_location>* teleports):
g(s), h(heuristic(c, dst)), t(g + h), curr(c), prev(p), in(search_counter + i)
{ }
{
if (teleports != NULL) {
double srch = h, dsth = h;
std::set<map_location>::const_iterator i;
for(i = teleports->begin(); i != teleports->end(); ++i) {
const double new_srch = heuristic(c, *i);
const double new_dsth = heuristic(*i, dst);
if(new_srch < srch) {
srch = new_srch;
}
if(new_dsth < dsth) {
dsth = new_dsth;
}
}
if(srch + dsth + 1.0 < h) {
h = srch + dsth + 1.0;
t = g + h;
}
}
}
bool operator<(const node& o) const {
return t < o.t;
@ -147,7 +166,7 @@ plain_route a_star_search(const map_location& src, const map_location& dst,
comp node_comp(nodes);
nodes[index(dst)].g = stop_at;
nodes[index(src)] = node(0, src, map_location::null_location, dst, true);
nodes[index(src)] = node(0, src, map_location::null_location, dst, true, teleports_ptr);
std::vector<int> pq;
pq.push_back(index(src));
@ -175,7 +194,7 @@ plain_route a_star_search(const map_location& src, const map_location& dst,
bool in_list = next.in == search_counter + 1;
next = node(cost, locs[i], n.curr, dst, true);
next = node(cost, locs[i], n.curr, dst, true, teleports_ptr);
if (in_list) {
std::push_heap(pq.begin(), std::find(pq.begin(), pq.end(), index(locs[i])) + 1, node_comp);