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Fix weigth scale of A* being applied to the whole path and estimation

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Attempt to fix #8584
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Bojidar Marinov 2017-05-16 14:46:13 +03:00
parent ce2077262a
commit bd91730347
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GPG key ID: 4D546A8F1E091856
1 changed files with 2 additions and 5 deletions
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7
core/math/a_star.cpp
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@ -190,8 +190,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
Point *n = begin_point->neighbours[i];
n->prev_point = begin_point;
n->distance = _compute_cost(n->id, begin_point->id);
n->distance *= n->weight_scale;
n->distance = _compute_cost(begin_point->id, n->id) * n->weight_scale;
n->last_pass = pass;
open_list.add(&n->list);
@ -219,7 +218,6 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
real_t cost = p->distance;
cost += _estimate_cost(p->id, end_point->id);
cost *= p->weight_scale;
if (cost < least_cost) {
@ -236,8 +234,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
Point *e = p->neighbours[i];
real_t distance = _compute_cost(p->id, e->id) + p->distance;
distance *= e->weight_scale;
real_t distance = _compute_cost(p->id, e->id) * e->weight_scale + p->distance;
if (e->last_pass == pass) {
//oh this was visited already, can we win the cost?