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temporarily switched to dijkstra's algorithm

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This commit is contained in:
TorgaW 2024-04-19 16:33:20 +03:00
parent c1831994a2
commit fdfa7bd7cb
1 changed files with 21 additions and 26 deletions
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47
src/Game/Utils/PathFinding.utils.js
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@ -110,7 +110,7 @@ export class PathFinder {
/**
* @type Map<String, PathFinderNode>
*/
let cameFrom = new Map();
let cameFrom = new Array();
let minFScoreNodeIndex = 0;
//START LOOP WOOOOAAAW
@ -143,27 +143,22 @@ export class PathFinder {
* @type Array<PathFinderNode>
*/
let currentNeighbors = this._getNeighbors(currentNode.position);
// if(!currentNeighbors) return undefined;
// console.log(currentNeighbors);
for (const neighbor of currentNeighbors) {
this._closedSet.push(neighbor);
let tentativeGScore = currentNode.gScore + this._manhattanDistance(currentNode.position, neighbor.position);
if (this._existsInClosedSet(neighbor)) continue;
this._closedSet.push(neighbor);
if (tentativeGScore < neighbor.gScore) {
// console.log(neighbor.id, currentNode.id);
cameFrom.set(neighbor.id, currentNode);
cameFrom.push({ id: neighbor.id, node: currentNode });
neighbor.gScore = tentativeGScore;
neighbor.fScore = tentativeGScore + this._heuristic(neighbor.position, neighbor.dScore);
neighbor.fScore = tentativeGScore + this._heuristic(neighbor.position, neighbor.dScore)*0;
let neighborFoundInOpenSet = false;
for (const node of this._openSet) {
if (node.id === neighbor.id) {
neighborFoundInOpenSet = true;
break;
if(!this._existsInOpenSet(neighbor))
{
this._openSet.push(neighbor);
}
}
if (!neighborFoundInOpenSet) this._openSet.push(neighbor);
}
}
// console.log([...this._openSet]);
}
return new NavigationResult(false, "", new NavigationPath());
@ -176,13 +171,13 @@ export class PathFinder {
*/
_reconstructPath(cameFrom, current) {
let totalPath = [current.position];
// console.log(cameFrom);
let keys = [...cameFrom.keys()];
while (keys.includes(current.id)) {
if (current.id === cameFrom.get(current.id).id) break;
current = cameFrom.get(current.id);
totalPath.push(current.position);
}
console.log(cameFrom);
// let keys = [...cameFrom.keys()];
// while (keys.includes(current.id)) {
// if (current.id === cameFrom.get(current.id).id) break;
// current = cameFrom.get(current.id);
// totalPath.push(current.position);
// }
return totalPath.reverse();
}
@ -201,7 +196,7 @@ export class PathFinder {
if (currentTile && !currentTile.isObstacle) {
currentTile.optionalTerrainTileRef.drawObject.tint = 0xff0000;
node = new PathFinderNode(currentTile.position, 1e16, 1e16, currentTile.movementCost);
if (!this._existsInClosedSet(node)) {
if (/*!this._existsInClosedSet(node) &&*/ !currentTile.isObstacle) {
neighbors.push(node);
}
}
@ -210,7 +205,7 @@ export class PathFinder {
if (currentTile && !currentTile.isObstacle) {
currentTile.optionalTerrainTileRef.drawObject.tint = 0xff0000;
node = new PathFinderNode(currentTile.position, 1e16, 1e16, currentTile.movementCost);
if (!this._existsInClosedSet(node)) {
if (/*!this._existsInClosedSet(node) &&*/ !currentTile.isObstacle) {
neighbors.push(node);
}
}
@ -219,7 +214,7 @@ export class PathFinder {
if (currentTile && !currentTile.isObstacle) {
currentTile.optionalTerrainTileRef.drawObject.tint = 0xff0000;
node = new PathFinderNode(currentTile.position, 1e16, 1e16, currentTile.movementCost);
if (!this._existsInClosedSet(node)) {
if (/*!this._existsInClosedSet(node) &&*/ !currentTile.isObstacle) {
neighbors.push(node);
}
}
@ -228,7 +223,7 @@ export class PathFinder {
if (currentTile && !currentTile.isObstacle) {
currentTile.optionalTerrainTileRef.drawObject.tint = 0xff0000;
node = new PathFinderNode(currentTile.position, 1e16, 1e16, currentTile.movementCost);
if (!this._existsInClosedSet(node)) {
if (/*!this._existsInClosedSet(node) &&*/ !currentTile.isObstacle) {
neighbors.push(node);
}
}
@ -256,7 +251,7 @@ export class PathFinder {
let x2 = this._start.getX() - this._goal.getX();
let y2 = this._start.getY() - this._goal.getY();
let cross = Math.abs(x1 * y2 - x2 * y1);
return this._manhattanDistance(current, this._goal) * d + cross * 0.001;
return this._manhattanDistance(current, this._goal) * d;
}
/**