vlad.os/LuaCsForBarotraumaEP
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Pathfinding fixes:

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- The parent fields of the nodes are cleared before finding a path. Should fix the "constructing final path failed" errors.
- Nodes that have been marked as unreachable because of GetNodePenalty can still be used if another path to the node is found.
This commit is contained in:
Joonas Rikkonen
2018-01-11 16:03:16 +02:00
parent e2c7b684de
commit a3f49e0bc5
1 changed files with 21 additions and 8 deletions
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29
Barotrauma/BarotraumaShared/Source/Characters/AI/PathFinder.cs
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@@ -275,6 +275,7 @@ namespace Barotrauma
foreach (PathNode node in nodes)
{
node.Parent = null;
node.state = 0;
node.F = 0.0f;
node.G = 0.0f;
@@ -306,30 +307,39 @@ namespace Barotrauma
PathNode nextNode = currNode.connections[i];
//a node that hasn't been searched yet
if (nextNode.state==0)
if (nextNode.state == 0)
{
nextNode.H = Vector2.Distance(nextNode.Position,end.Position);
nextNode.H = Vector2.Distance(nextNode.Position, end.Position);
float penalty = 0.0f;
if (GetNodePenalty != null)
{
float? nodePenalty =GetNodePenalty(currNode, nextNode);
float? nodePenalty = GetNodePenalty(currNode, nextNode);
if (nodePenalty == null)
{
nextNode.state = -1;
continue;
}
nextNode.H += (float)nodePenalty;
penalty = nodePenalty.Value;
}
nextNode.G = currNode.G + currNode.distances[i];
nextNode.G = currNode.G + currNode.distances[i] + penalty;
nextNode.F = nextNode.G + nextNode.H;
nextNode.Parent = currNode;
nextNode.state = 1;
}
//node that has been searched
else if (nextNode.state==1)
else if (nextNode.state == 1 || nextNode.state == -1)
{
float tempG = currNode.G + currNode.distances[i];
if (GetNodePenalty != null)
{
float? nodePenalty = GetNodePenalty(currNode, nextNode);
if (nodePenalty == null) continue;
tempG += nodePenalty.Value;
}
//only use if this new route is better than the
//route the node was a part of
if (tempG < nextNode.G)
@@ -337,6 +347,7 @@ namespace Barotrauma
nextNode.G = tempG;
nextNode.F = nextNode.G + nextNode.H;
nextNode.Parent = currNode;
nextNode.state = 1;
}
}
}
@@ -356,8 +367,10 @@ namespace Barotrauma
{
finalPath.Add(pathNode.Waypoint);
//there was one bug report that seems to have been caused by this loop never terminating:
//couldn't reproduce or figure out what caused it, but here's a workaround that prevents the game from crashing in case it happens again
//(there was one bug report that seems to have been caused by this loop never terminating:
//couldn't reproduce or figure out what caused it, but here's a workaround that prevents the game from crashing in case it happens again)
//should be fixed now, was most likely caused by the parent fields of the nodes not being cleared before starting the pathfinding
if (finalPath.Count > nodes.Count)
{
DebugConsole.ThrowError("Pathfinding error: constructing final path failed");