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fix calculation of link weight

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This commit is contained in:
in0finite 2022-02-20 05:20:54 +01:00
parent 30f69225ea
commit f325ff298b
1 changed files with 8 additions and 3 deletions
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11
Assets/Scripts/Behaviours/PathfindingManager.cs
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@ -190,7 +190,7 @@ namespace SanAndreasUnity.Behaviours
if (idM.Equals(targetId)) if (idM.Equals(targetId))
{ {
var dataM = GetResettedData(); var dataM = GetResettedData();
dataM.g = dataN.g + link.Length; dataM.g = dataN.g + CalculateLinkWeight(idN, idM);
float h = CalculateHeuristic(idM, targetId); float h = CalculateHeuristic(idM, targetId);
dataM.f = dataM.g + h; dataM.f = dataM.g + h;
dataM.parentId = idN; dataM.parentId = idN;
@ -205,7 +205,7 @@ namespace SanAndreasUnity.Behaviours
if (openList.Contains(idM)) if (openList.Contains(idM))
{ {
float gNew = dataN.g + link.Length; float gNew = dataN.g + CalculateLinkWeight(idN, idM);
float hNew = CalculateHeuristic(idM, targetId); float hNew = CalculateHeuristic(idM, targetId);
float fNew = gNew + hNew; float fNew = gNew + hNew;
@ -230,7 +230,7 @@ namespace SanAndreasUnity.Behaviours
else else
{ {
var dataM = GetResettedData(); var dataM = GetResettedData();
dataM.g = dataN.g + link.Length; dataM.g = dataN.g + CalculateLinkWeight(idN, idM);
float h = CalculateHeuristic(idM, targetId); float h = CalculateHeuristic(idM, targetId);
dataM.f = dataM.g + h; dataM.f = dataM.g + h;
dataM.parentId = idN; dataM.parentId = idN;
@ -266,6 +266,11 @@ namespace SanAndreasUnity.Behaviours
return NodeReader.GetDistanceBetweenNodes(source, destination); return NodeReader.GetDistanceBetweenNodes(source, destination);
} }
private float CalculateLinkWeight(PathNodeId parentId, PathNodeId neighbourId)
{
return NodeReader.GetDistanceBetweenNodes(parentId, neighbourId);
}
private void RestoreModifiedDatas() private void RestoreModifiedDatas()
{ {
foreach (var id in m_modifiedDatas) foreach (var id in m_modifiedDatas)