diff options
Diffstat (limited to 'src/path-search-dijkstra.cpp')
| -rw-r--r-- | src/path-search-dijkstra.cpp | 17 |
1 files changed, 8 insertions, 9 deletions
diff --git a/src/path-search-dijkstra.cpp b/src/path-search-dijkstra.cpp index bcf34cb5..e88461dd 100644 --- a/src/path-search-dijkstra.cpp +++ b/src/path-search-dijkstra.cpp @@ -145,13 +145,14 @@ path_search_result astar::Dijkstra(world& w, Vector2ub own_size, const object_id if (!from_offset.isZero()) { + uint32_t idx = 1; // todo also add 4 subdivisions within the tile the same way auto bb = bbox_union(start_bbox, Vector2i(from.local()), {}, own_size); if (path_search::is_passable(w, chunk_coords_{from}, bb, own_id, p)) { - indexes[{from, {}}] = 1; + indexes[{from, {}}] = idx; nodes.push_back({.dist = from_offset_len, .prev = 0, .coord = from, .offset = {}}); - Q.push_back(1); + Q.push_back(idx++); std::push_heap(Q.begin(), Q.end(), heap_comparator); } } @@ -162,18 +163,16 @@ path_search_result astar::Dijkstra(world& w, Vector2ub own_size, const object_id const auto id = Q.back(); Q.pop_back(); - fm_debug_assert(id < nodes.size()); - auto& node = nodes[id]; - fm_debug_assert(node.dist != (uint32_t)-1); + auto node = box{nodes, id}; //Debug{} << "node" << id << "|" << node.coord.to_signed3() << node.offset << "|" << node.dist; - const auto bb0 = bbox_from_pos(Vector2(node.coord.local()), node.offset, own_size); + const auto bb0 = bbox_from_pos(Vector2(node->coord.local()), node->offset, own_size); for (auto [vec, len] : directions) { - auto [new_coord, new_offset] = object::normalize_coords(node.coord, node.offset, vec); - const auto dist = node.dist + len; + auto [new_coord, new_offset] = object::normalize_coords(node->coord, node->offset, vec); + const auto dist = node->dist + len; if (dist >= max_dist) continue; @@ -221,7 +220,7 @@ path_search_result astar::Dijkstra(world& w, Vector2ub own_size, const object_id } } - Debug {} << "done"; + //Debug {} << "done!" << nodes.size() << "nodes"; // todo... return result; |