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Finished A* Pathfinder

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Calclavia 2013-08-04 00:04:16 -04:00
parent dc9d5da1a9
commit d094f0baf6
1 changed files with 20 additions and 1 deletions
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21
src/resonantinduction/contractor/Pathfinding.java
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@ -73,9 +73,28 @@ public class Pathfinding
{
ForgeDirection direction = ForgeDirection.getOrientation(i);
Vector3 neighbor = currentNode.clone().translate(new Vector3(direction.offsetX, direction.offsetY, direction.offsetZ));
double tentativeG = this.gScore.get(currentNode);
if (this.closedSet.contains(neighbor))
{
if (tentativeG >= this.gScore.get(neighbor))
{
continue;
}
}
if (!this.openSet.contains(neighbor) || tentativeG < this.gScore.get(neighbor))
{
this.navMap.put(neighbor, currentNode);
this.gScore.put(neighbor, tentativeG);
this.fScore.put(neighbor, this.gScore.get(neighbor) + this.getEstimate(neighbor, this.target));
this.openSet.add(neighbor);
}
}
}
return false;
}
private Set<Vector3> reconstructPath(HashMap<Vector3, Vector3> naviMap, Vector3 currentNode)