diff options
Diffstat (limited to 'src/path-search-dijkstra.cpp')
| -rw-r--r-- | src/path-search-dijkstra.cpp | 21 |
1 files changed, 17 insertions, 4 deletions
diff --git a/src/path-search-dijkstra.cpp b/src/path-search-dijkstra.cpp index 79f94e9d..b5f5355a 100644 --- a/src/path-search-dijkstra.cpp +++ b/src/path-search-dijkstra.cpp @@ -135,9 +135,6 @@ path_search_result astar::Dijkstra(world& w, const point from_, const point to_, if (!path_search::is_passable(w, to, to_offset, own_size, own_id, p)) return {}; - path_search_result result; - auto& path = result.path(); path.clear(); - cache.allocate(from_, max_dist); nodes.push_back({.dist = 0, .pt = from_, }); add_to_heap(0); @@ -319,7 +316,23 @@ path_search_result astar::Dijkstra(world& w, const point from_, const point to_, } #endif - // todo... + path_search_result result; + auto& path = result.path(); + path.clear(); + + if (auto i = goal_idx; i != (uint32_t)-1) + { + do { + const auto& node = nodes[i]; + path.push_back(node.pt); + i = node.prev; + + } while(i !=(uint32_t)-1); + + result.set_cost(nodes[goal_idx].dist); + std::reverse(path.begin(), path.end()); + } + return result; } |