AstralTransRocketries/TrueCraft
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Further refinements to A*

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This commit is contained in:
Drew DeVault 2015-07-02 17:22:57 -06:00
parent f2ab1c0598
commit b56a53dc81
2 changed files with 18 additions and 10 deletions
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24
TrueCraft.Core/AI/AStarPathFinder.cs
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@ -33,30 +33,38 @@ namespace TrueCraft.Core.AI
// Thanks to www.redblobgames.com/pathfinding/a-star/implementation.html
var parents = new Dictionary<Coordinates3D, Coordinates3D>();
var costs = new Dictionary<Coordinates3D, int>();
var frontier = new PriorityQueue<Coordinates3D>();
var costs = new Dictionary<Coordinates3D, double>();
var openset = new PriorityQueue<Coordinates3D>();
var closedset = new HashSet<Coordinates3D>();
frontier.Enqueue(start, 0);
openset.Enqueue(start, 0);
parents[start] = start;
costs[start] = 0;
costs[start] = start.DistanceTo(goal);
while (frontier.Count > 0)
while (openset.Count > 0)
{
var current = frontier.Dequeue();
var current = openset.Dequeue();
if (current == goal)
return TracePath(start, goal, parents);
closedset.Add(current);
for (int i = 0; i < Neighbors.Length; i++)
{
var next = Neighbors[i] + current;
if (closedset.Contains(next))
continue;
var id = world.GetBlockID(next);
if (id != 0)
continue; // TODO: Make this more sophisticated
var cost = (int)(costs[current] + current.DistanceTo(next));
if (!costs.ContainsKey(next) || cost < costs[next])
{
costs[next] = cost;
var priority = (int)(cost + next.DistanceTo(goal));
frontier.Enqueue(next, priority);
var priority = cost + next.DistanceTo(goal);
openset.Enqueue(next, priority);
parents[next] = current;
}
}

4
TrueCraft.Core/AI/PriorityQueue.cs
View File

@ -7,14 +7,14 @@ namespace TrueCraft.Core.AI
// Thanks to www.redblobgames.com/pathfinding/a-star/implementation.html
public class PriorityQueue<T>
{
private List<Tuple<T, int>> elements = new List<Tuple<T, int>>();
private List<Tuple<T, double>> elements = new List<Tuple<T, double>>();
public int Count
{
get { return elements.Count; }
}
public void Enqueue(T item, int priority)
public void Enqueue(T item, double priority)
{
elements.Add(Tuple.Create(item, priority));
}