diff options
Diffstat (limited to 'core/math/a_star.h')
| -rw-r--r-- | core/math/a_star.h | 26 |
1 files changed, 14 insertions, 12 deletions
diff --git a/core/math/a_star.h b/core/math/a_star.h index cbabcce974..53aaaa1f6c 100644 --- a/core/math/a_star.h +++ b/core/math/a_star.h @@ -31,6 +31,7 @@ #ifndef ASTAR_H #define ASTAR_H +#include "core/oa_hash_map.h" #include "core/reference.h" /** @@ -43,8 +44,6 @@ class AStar : public Reference { GDCLASS(AStar, Reference); - uint64_t pass; - struct Point { int id; @@ -52,10 +51,10 @@ class AStar : public Reference { real_t weight_scale; bool enabled; - Set<Point *> neighbours; - Set<Point *> unlinked_neighbours; + OAHashMap<int, Point *> neighbours; + OAHashMap<int, Point *> unlinked_neighbours; - // Used for pathfinding + // Used for pathfinding. Point *prev_point; real_t g_score; real_t f_score; @@ -63,16 +62,15 @@ class AStar : public Reference { uint64_t closed_pass; }; - Map<int, Point *> points; - struct SortPoints { - _FORCE_INLINE_ bool operator()(const Point *A, const Point *B) const { // Returns true when the Point A is worse than Point B - if (A->f_score > B->f_score) + _FORCE_INLINE_ bool operator()(const Point *A, const Point *B) const { // Returns true when the Point A is worse than Point B. + if (A->f_score > B->f_score) { return true; - else if (A->f_score < B->f_score) + } else if (A->f_score < B->f_score) { return false; - else - return A->g_score < B->g_score; // If the f_costs are the same then prioritize the points that are further away from the start + } else { + return A->g_score < B->g_score; // If the f_costs are the same then prioritize the points that are further away from the start. + } } }; @@ -100,6 +98,10 @@ class AStar : public Reference { } }; + int last_free_id; + uint64_t pass; + + OAHashMap<int, Point *> points; Set<Segment> segments; bool _solve(Point *begin_point, Point *end_point); |