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Avoid overestimating the cost in AStar heuristics.

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This is a necessary condition for finding optimal solutions.
This is achieved by simply requiring/ensuring that no weights are smaller than 1.

Fixes #8584.
This commit is contained in:
Ferenc Arn 2017-05-21 14:55:21 -05:00
parent 5b3709d309
commit e4eb093c62
2 changed files with 2 additions and 1 deletions
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2
core/math/a_star.cpp
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@ -43,6 +43,7 @@ int AStar::get_available_point_id() const {
void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) { void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
ERR_FAIL_COND(p_id < 0); ERR_FAIL_COND(p_id < 0);
ERR_FAIL_COND(p_weight_scale < 1);
if (!points.has(p_id)) { if (!points.has(p_id)) {
Point *pt = memnew(Point); Point *pt = memnew(Point);
pt->id = p_id; pt->id = p_id;
@ -221,7 +222,6 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
real_t cost = p->distance; real_t cost = p->distance;
cost += _estimate_cost(p->id, end_point->id); cost += _estimate_cost(p->id, end_point->id);
cost *= p->weight_scale;
if (cost < least_cost) { if (cost < least_cost) {

1
doc/base/classes.xml
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@ -1991,6 +1991,7 @@
<argument index="1" name="pos" type="Vector3"> <argument index="1" name="pos" type="Vector3">
</argument> </argument>
<argument index="2" name="weight_scale" type="float" default="1"> <argument index="2" name="weight_scale" type="float" default="1">
Weight scale has to be 1 or larger.
</argument> </argument>
<description> <description>
</description> </description>