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-improved pathfinding accuracy

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(i hope?)
This commit is contained in:
Juan Linietsky 2015-02-19 00:27:02 -03:00
parent 5ef3f7392f
commit cf75bf842d
2 changed files with 39 additions and 1 deletions
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39
scene/2d/navigation2d.cpp
View file

@ -1,5 +1,7 @@
#include "navigation2d.h"
#define USE_ENTRY_POINT
void Navigation2D::_navpoly_link(int p_id) {
ERR_FAIL_COND(!navpoly_map.has(p_id));
@ -336,12 +338,25 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect
List<Polygon*> open_list;
begin_poly->entry=p_start;
for(int i=0;i<begin_poly->edges.size();i++) {
if (begin_poly->edges[i].C) {
begin_poly->edges[i].C->prev_edge=begin_poly->edges[i].C_edge;
#ifdef USE_ENTRY_POINT
Vector2 edge[2]={
_get_vertex(begin_poly->edges[i].point),
_get_vertex(begin_poly->edges[(i+1)%begin_poly->edges.size()].point)
};
Vector2 entry = Geometry::get_closest_point_to_segment_2d(begin_poly->entry,edge);
begin_poly->edges[i].C->distance = begin_poly->entry.distance_to(entry);
begin_poly->edges[i].C->entry=entry;
#else
begin_poly->edges[i].C->distance=begin_poly->center.distance_to(begin_poly->edges[i].C->center);
#endif
open_list.push_back(begin_poly->edges[i].C);
if (begin_poly->edges[i].C==end_poly) {
@ -381,8 +396,9 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect
Polygon *p=least_cost_poly->get();
//open the neighbours for search
int es = p->edges.size();
for(int i=0;i<p->edges.size();i++) {
for(int i=0;i<es;i++) {
Polygon::Edge &e=p->edges[i];
@ -390,8 +406,22 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect
if (!e.C)
continue;
#ifdef USE_ENTRY_POINT
Vector2 edge[2]={
_get_vertex(p->edges[i].point),
_get_vertex(p->edges[(i+1)%es].point)
};
Vector2 edge_entry = Geometry::get_closest_point_to_segment_2d(p->entry,edge);
float distance = p->entry.distance_to(edge_entry) + p->distance;
#else
float distance = p->center.distance_to(e.C->center) + p->distance;
#endif
if (e.C->prev_edge!=-1) {
//oh this was visited already, can we win the cost?
@ -399,12 +429,19 @@ Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vect
e.C->prev_edge=e.C_edge;
e.C->distance=distance;
#ifdef USE_ENTRY_POINT
e.C->entry=edge_entry;
#endif
}
} else {
//add to open neighbours
e.C->prev_edge=e.C_edge;
e.C->distance=distance;
#ifdef USE_ENTRY_POINT
e.C->entry=edge_entry;
#endif
open_list.push_back(e.C);
if (e.C==end_poly) {

1
scene/2d/navigation2d.h
View file

@ -55,6 +55,7 @@ class Navigation2D : public Node2D {
Vector<Edge> edges;
Vector2 center;
Vector2 entry;
float distance;
int prev_edge;