server_common/recastnavigation_v1.6.0
5
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Take area costs into account in Dijkstra searches (#208)

Browse Source 
findPolysAroundCircle and findPolysAroundShape were only using distances
to compute the costs. This was inconsistent with other APIs that
performed cost-based searches and accepted filters as parameters.
This commit is contained in:
Jakob Botsch Nielsen 2016-05-24 17:54:03 +02:00
parent 12569b5cf6
commit 8628710178
1 changed files with 14 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
Detour/Source/DetourNavMeshQuery.cpp
View File

@ -2825,7 +2825,13 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
if (neighbourNode->flags == 0)
dtVlerp(neighbourNode->pos, va, vb, 0.5f);
const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos);
float cost = filter->getCost(
bestNode->pos, neighbourNode->pos,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
const float total = bestNode->total + cost;
// The node is already in open list and the new result is worse, skip.
if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
@ -2992,7 +2998,13 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
if (neighbourNode->flags == 0)
dtVlerp(neighbourNode->pos, va, vb, 0.5f);
const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos);
float cost = filter->getCost(
bestNode->pos, neighbourNode->pos,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
const float total = bestNode->total + cost;
// The node is already in open list and the new result is worse, skip.
if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)