diff options
| author | Bojidar Marinov <bojidar.marinov.bg@gmail.com> | 2017-05-16 14:46:13 +0300 |
|---|---|---|
| committer | Bojidar Marinov <bojidar.marinov.bg@gmail.com> | 2017-05-22 15:55:49 +0300 |
| commit | bd91730347b33fd88d3944dc63fed06655f0b736 (patch) | |
| tree | c69733884e825d2a58744251e34115cf47b2257d /core/math | |
| parent | ce2077262a967cd9020d54059a03a11f33d15c01 (diff) | |
Fix weigth scale of A* being applied to the whole path and estimation
Attempt to fix #8584
Diffstat (limited to 'core/math')
| -rw-r--r-- | core/math/a_star.cpp | 7 |
1 files changed, 2 insertions, 5 deletions
diff --git a/core/math/a_star.cpp b/core/math/a_star.cpp index c327f7ca44..2a3fd79cad 100644 --- a/core/math/a_star.cpp +++ b/core/math/a_star.cpp @@ -190,8 +190,7 @@ 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 +218,6 @@ 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 +234,7 @@ 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? |