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Merge pull request #8786 from bojidar-bg/fix-astar-weight-scale 

Fix weigth scale of A* being applied to the whole estimation
This commit is contained in:
Rémi Verschelde 2017-05-22 15:16:20 +02:00 committed by GitHub
parent 6dfab3c7e9 bd91730347
commit ce51138b38
1 changed files with 2 additions and 4 deletions
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6
core/math/a_star.cpp
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@ -193,8 +193,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
Point *n = begin_point->neighbours[i]; Point *n = begin_point->neighbours[i];
n->prev_point = begin_point; n->prev_point = begin_point;
n->distance = _compute_cost(n->id, begin_point->id); n->distance = _compute_cost(begin_point->id, n->id) * n->weight_scale;
n->distance *= n->weight_scale;
n->last_pass = pass; n->last_pass = pass;
open_list.add(&n->list); open_list.add(&n->list);
@ -238,8 +237,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
Point *e = p->neighbours[i]; Point *e = p->neighbours[i];
real_t distance = _compute_cost(p->id, e->id) + p->distance; real_t distance = _compute_cost(p->id, e->id) * e->weight_scale + p->distance;
distance *= e->weight_scale;
if (e->last_pass == pass) { if (e->last_pass == pass) {
//oh this was visited already, can we win the cost? //oh this was visited already, can we win the cost?