PulseStudio/VoxelEngine
PulseStudio/VoxelEngine
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increase cost if avoided instead of discarding

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This commit is contained in:
MihailRis 2025-08-31 19:41:12 +03:00
parent a621b179d3
commit 3c9c4c403c
2 changed files with 31 additions and 17 deletions
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44
src/voxels/Pathfinding.cpp
View File

@ -159,10 +159,12 @@ Route Pathfinding::perform(Agent& agent, int maxVisited) {
auto offset = neighbors[i];
auto pos = node.pos;
int surface =
getSurfaceAt(agent, pos + glm::ivec3(offset.x, 0, offset.y), 1);
float cost = glm::abs(node.pos.y - pos.y) * 10;
int surface = getSurfaceAt(
agent, pos + glm::ivec3(offset.x, 0, offset.y), 1, cost
);
if (surface == -1) {
if (surface == NON_PASSABLE) {
continue;
}
pos.y = surface;
@ -180,9 +182,8 @@ Route Pathfinding::perform(Agent& agent, int maxVisited) {
continue;
}
int score = glm::abs(node.pos.y - pos.y) * 10;
float sum = glm::abs(offset.x) + glm::abs(offset.y);
float gScore = node.gScore + sum + score;
float gScore = node.gScore + sum + cost;
const auto& found = state.parents.find(point);
if (found == state.parents.end()) {
float hScore = heuristic(point, agent.target);
@ -231,22 +232,33 @@ int Pathfinding::checkPoint(const Agent& agent, int x, int y, int z) {
return PASSABLE;
}
int Pathfinding::getSurfaceAt(const Agent& agent, const glm::ivec3& pos, int maxDelta) {
int Pathfinding::getSurfaceAt(
const Agent& agent, const glm::ivec3& pos, int maxDelta, float& cost
) {
using namespace blocks_agent;
int status;
int surface = pos.y;
if (checkPoint(agent, pos.x, surface, pos.z) <= 0) {
if (checkPoint(agent, pos.x, surface + 1, pos.z) <= 0)
if ((status = checkPoint(agent, pos.x, surface, pos.z)) == OBSTACLE) {
if ((status = checkPoint(agent, pos.x, surface + 1, pos.z)) == OBSTACLE) {
return NON_PASSABLE;
else
return surface + 1;
} else if ((status = checkPoint(agent, pos.x, surface - 1, pos.z)) <= 0) {
if (status == NON_PASSABLE)
return NON_PASSABLE;
return surface;
} else if (checkPoint(agent, pos.x, surface - 2, pos.z) == 0) {
return surface - 1;
} else if (status == NON_PASSABLE) {
++cost;
}
return surface + 1;
} else {
if (status == NON_PASSABLE) {
++cost;
}
if ((status = checkPoint(agent, pos.x, surface - 1, pos.z)) == OBSTACLE) {
return surface;
} else if (status == NON_PASSABLE) {
++cost;
}
if ((status = checkPoint(agent, pos.x, surface - 2, pos.z)) == OBSTACLE) {
return surface - 1;
}
return NON_PASSABLE;
}
return NON_PASSABLE;
}

4
src/voxels/Pathfinding.hpp
View File

@ -86,7 +86,9 @@ namespace voxels {
std::unordered_map<int, Agent> agents;
int nextAgent = 1;
int getSurfaceAt(const Agent& agent, const glm::ivec3& pos, int maxDelta);
int getSurfaceAt(
const Agent& agent, const glm::ivec3& pos, int maxDelta, float& cost
);
int checkPoint(const Agent& agent, int x, int y, int z);
};