diff options
Diffstat (limited to 'core/math/a_star.cpp')
| -rw-r--r-- | core/math/a_star.cpp | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/core/math/a_star.cpp b/core/math/a_star.cpp index c327f7ca4..320990cc5 100644 --- a/core/math/a_star.cpp +++ b/core/math/a_star.cpp @@ -43,6 +43,7 @@ int AStar::get_available_point_id() const { void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) { ERR_FAIL_COND(p_id < 0); + ERR_FAIL_COND(p_weight_scale < 1); if (!points.has(p_id)) { Point *pt = memnew(Point); pt->id = p_id; @@ -86,7 +87,7 @@ void AStar::remove_point(int p_id) { points.erase(p_id); } -void AStar::connect_points(int p_id, int p_with_id) { +void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) { ERR_FAIL_COND(!points.has(p_id)); ERR_FAIL_COND(!points.has(p_with_id)); @@ -95,7 +96,9 @@ void AStar::connect_points(int p_id, int p_with_id) { Point *a = points[p_id]; Point *b = points[p_with_id]; a->neighbours.push_back(b); - b->neighbours.push_back(a); + + if (bidirectional) + b->neighbours.push_back(a); Segment s(p_id, p_with_id); if (s.from == p_id) { @@ -190,8 +193,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) { Point *n = begin_point->neighbours[i]; n->prev_point = begin_point; - n->distance = _compute_cost(n->id, begin_point->id); - n->distance *= n->weight_scale; + n->distance = _compute_cost(begin_point->id, n->id) * n->weight_scale; n->last_pass = pass; open_list.add(&n->list); @@ -219,7 +221,6 @@ bool AStar::_solve(Point *begin_point, Point *end_point) { real_t cost = p->distance; cost += _estimate_cost(p->id, end_point->id); - cost *= p->weight_scale; if (cost < least_cost) { @@ -236,8 +237,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) { Point *e = p->neighbours[i]; - real_t distance = _compute_cost(p->id, e->id) + p->distance; - distance *= e->weight_scale; + real_t distance = _compute_cost(p->id, e->id) * e->weight_scale + p->distance; if (e->last_pass == pass) { //oh this was visited already, can we win the cost? @@ -401,7 +401,7 @@ void AStar::_bind_methods() { ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar::get_point_weight_scale); ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar::remove_point); - ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id"), &AStar::connect_points); + ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id"), &AStar::connect_points, DEFVAL(true)); ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id"), &AStar::disconnect_points); ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id"), &AStar::are_points_connected); |