katja/MultilevelAStarExt
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Properly checking distance for changing parents of already processed nodes.

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Katja
2024-06-05 04:14:29 +02:00
parent d3d7a0013f
commit 9f3af7b380
1 changed files with 4 additions and 6 deletions
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src/MultilevelAStarEx.cpp
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@@ -268,14 +268,12 @@ Variant MultilevelAStarEx::find_path(const Vector2i &from, const Vector2i &to, b
node->open(_pass, current, current->distanceFromStart + distance, to2); node->open(_pass, current, current->distanceFromStart + distance, to2);
open.push_back(node); open.push_back(node);
} }
else if (node->state(_pass) == Node::OPEN) // TODO: check if this should only be performed on open nodes or all nodes
{ else if (current->distanceFromStart + distance < node->distanceFromStart)
if (current->distanceFromStart < node->parent->distanceFromStart)
{ {
node->parent = current; node->parent = current;
node->distanceFromStart = current->distanceFromStart + distance; node->distanceFromStart = current->distanceFromStart + distance;
} }
}
// find the closest cell // find the closest cell
if (node->distanceToEndForClosest < closest->distanceToEndForClosest) if (node->distanceToEndForClosest < closest->distanceToEndForClosest)