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Merge pull request #21492 from Maykeye/astar

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Changed A* exit condition, added 2 tests for it
This commit is contained in:
Rémi Verschelde
2018-10-02 10:30:12 +02:00
committed by GitHub
parent e98eb0c113 40562a67c8
commit b4c1d40869
4 changed files with 169 additions and 17 deletions
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22
core/math/a_star.cpp
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@@ -250,14 +250,9 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
n->distance = _compute_cost(begin_point->id, n->id) * n->weight_scale;
n->last_pass = pass;
open_list.add(&n->list);
if (end_point == n) {
found_route = true;
break;
}
}
while (!found_route) {
while (true) {
if (open_list.first() == NULL) {
// No path found
@@ -277,13 +272,16 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
cost += _estimate_cost(p->id, end_point->id);
if (cost < least_cost) {
least_cost_point = E;
least_cost = cost;
}
}
Point *p = least_cost_point->self();
if (p == end_point) {
found_route = true;
break;
}
for (Set<Point *>::Element *E = p->neighbours.front(); E; E = E->next()) {
@@ -295,7 +293,6 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
// Already visited, is this cheaper?
if (e->distance > distance) {
e->prev_point = p;
e->distance = distance;
}
@@ -306,18 +303,9 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
e->distance = distance;
e->last_pass = pass; // Mark as used
open_list.add(&e->list);
if (e == end_point) {
// End reached; stop algorithm
found_route = true;
break;
}
}
}
if (found_route)
break;
open_list.remove(least_cost_point);
}