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Heuristic fixed

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Anuken
2023-11-06 23:02:26 -05:00
parent d6d9a52ef9
commit a17dcbca5a
1 changed files with 4 additions and 4 deletions
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8
core/src/mindustry/ai/HierarchyPathFinder.java
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@ -570,7 +570,7 @@ public class HierarchyPathFinder{
//edges for the cluster the node is 'in' //edges for the cluster the node is 'in'
if(innerCons != null){ if(innerCons != null){
checkEdges(pathCost, current, cx, cy, innerCons); checkEdges(pathCost, current, endNodeIndex, cx, cy, innerCons);
} }
//edges that this node 'faces' from the other side //edges that this node 'faces' from the other side
@ -581,7 +581,7 @@ public class HierarchyPathFinder{
int relativeDir = (dir + 2) % 4; int relativeDir = (dir + 2) % 4;
LongSeq outerCons = nextCluster.portalConnections[relativeDir] == null ? null : nextCluster.portalConnections[relativeDir][portal]; LongSeq outerCons = nextCluster.portalConnections[relativeDir] == null ? null : nextCluster.portalConnections[relativeDir][portal];
if(outerCons != null){ if(outerCons != null){
checkEdges(pathCost, current, nextCx, nextCy, outerCons); checkEdges(pathCost, current, endNodeIndex, nextCx, nextCy, outerCons);
} }
} }
} }
@ -606,7 +606,7 @@ public class HierarchyPathFinder{
Fx.debugLine.at(a.x, a.y, 0f, Color.blue.cpy().a(0.1f), new Vec2[]{a.cpy(), b.cpy()}); Fx.debugLine.at(a.x, a.y, 0f, Color.blue.cpy().a(0.1f), new Vec2[]{a.cpy(), b.cpy()});
} }
void checkEdges(int pathCost, int current, int cx, int cy, LongSeq connections){ void checkEdges(int pathCost, int current, int goal, int cx, int cy, LongSeq connections){
for(int i = 0; i < connections.size; i++){ for(int i = 0; i < connections.size; i++){
long con = connections.items[i]; long con = connections.items[i];
float cost = IntraEdge.cost(con); float cost = IntraEdge.cost(con);
@ -618,7 +618,7 @@ public class HierarchyPathFinder{
if(newCost < costs.get(next, Float.POSITIVE_INFINITY)){ if(newCost < costs.get(next, Float.POSITIVE_INFINITY)){
costs.put(next, newCost); costs.put(next, newCost);
frontier.add(next, newCost + clusterNodeHeuristic(pathCost, current, next)); frontier.add(next, newCost + clusterNodeHeuristic(pathCost, next, goal));
cameFrom.put(next, current); cameFrom.put(next, current);
//TODO debug //TODO debug