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changed stuff

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Orange
2024-08-01 21:55:56 +03:00
parent cd08f8c742
commit f4c988247c
2 changed files with 18 additions and 6 deletions
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2
include/omath/pathfinding/NavigationMesh.h
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@@ -15,7 +15,7 @@ namespace omath::pathfinding
struct NavigationVertex
{
Vector3 origin;
std::vector<Vector3*> connections;
std::vector<NavigationVertex*> connections;
};

20
source/pathfinding/Astar.cpp
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@@ -3,15 +3,15 @@
//
#include "omath/pathfinding/Astar.h"
#include <unordered_map>
#include <unordered_set>
namespace omath::pathfinding
{
struct PathNode final
{
PathNode* cameFrom;
const NavigationVertex* navVertex;
Vector3 cameFrom;
NavigationVertex const* navVertex;
float gCost = 0.f;
};
@@ -24,11 +24,23 @@ namespace omath::pathfinding
const auto& startVertex = navMesh.GetClossestVertex(start).value();
const auto& endVertex = navMesh.GetClossestVertex(end).value();
openList.emplace(startVertex.origin, PathNode{nullptr, &startVertex, 0.f});
openList.emplace(startVertex.origin, PathNode{startVertex.origin, &startVertex, 0.f});
while (!openList.empty())
{
const auto [cord, node] = *std::ranges::min_element(openList,
[&endVertex](const auto& a, const auto& b) -> bool
{
const auto aCost = a.second.gCost + a.second.navVertex->origin.DistTo(endVertex.origin);
const auto bCost = b.second.gCost + b.second.navVertex->origin.DistTo(endVertex.origin);
return aCost < bCost;
});
openList.erase(cord);
for (const auto& neighbor : node.navVertex->connections)
if (!closedList.contains(neighbor->origin))
closedList.emplace(neighbor->origin, PathNode{cord, neighbor, neighbor->origin.DistTo(cord) + node.gCost});
}
return {};