katja/MultilevelAStarExt
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Changed how the closest node is picked.

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Ignoring closed nodes.
This commit is contained in:
Katja
2024-06-05 15:56:14 +02:00
parent 9f3af7b380
commit 7aaf09ec9a
1 changed files with 9 additions and 1 deletions
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10
src/MultilevelAStarEx.cpp
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@@ -263,12 +263,16 @@ Variant MultilevelAStarEx::find_path(const Vector2i &from, const Vector2i &to, b
auto process = [this, &open, &to2, &closest](Node *current, int x, int y, int distance) {
Node *node = &NODES(x, y);
if (node->state(_pass) == Node::UNUSED)
{
node->open(_pass, current, current->distanceFromStart + distance, to2);
open.push_back(node);
}
// TODO: check if this should only be performed on open nodes or all nodes
else if (node->state(_pass) == Node::CLOSED)
{
return;
}
else if (current->distanceFromStart + distance < node->distanceFromStart)
{
node->parent = current;
@@ -299,6 +303,10 @@ Variant MultilevelAStarEx::find_path(const Vector2i &from, const Vector2i &to, b
{
current = n;
}
else if ((n->total_cost() == current->total_cost()) && (n->distanceToEnd < current->distanceToEnd))
{
current = n;
}
}
if (current->distanceToEnd == 0)