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replace set_avoided_tags with avoid_tag & add 'cost' argument

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MihailRis 2025-08-31 21:12:07 +03:00
parent 3c9c4c403c
commit c06636053d
6 changed files with 44 additions and 33 deletions
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27
src/voxels/Pathfinding.cpp
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@ -75,7 +75,7 @@ bool Pathfinding::removeAgent(int id) {
}
void Pathfinding::performAllAsync(int stepsPerAgent) {
for (auto& [id, agent] : agents) {
for (auto& [_, agent] : agents) {
if (agent.state.finished) {
continue;
}
@ -215,7 +215,7 @@ const std::unordered_map<int, Agent>& Pathfinding::getAgents() const {
return agents;
}
int Pathfinding::checkPoint(const Agent& agent, int x, int y, int z) {
int Pathfinding::checkPoint(const Agent& agent, int x, int y, int z, int& cost) {
auto vox = blocks_agent::get(chunks, x, y, z);
if (vox == nullptr) {
return OBSTACLE;
@ -224,8 +224,9 @@ int Pathfinding::checkPoint(const Agent& agent, int x, int y, int z) {
if (def.obstacle) {
return OBSTACLE;
}
for (int tagIndex : agent.avoidTags) {
if (def.rt.tags.find(tagIndex) != def.rt.tags.end()) {
for (const auto& pair : agent.avoidTags) {
if (def.rt.tags.find(pair.first) != def.rt.tags.end()) {
cost = pair.second;
return NON_PASSABLE;
}
}
@ -239,23 +240,27 @@ int Pathfinding::getSurfaceAt(
int status;
int surface = pos.y;
if ((status = checkPoint(agent, pos.x, surface, pos.z)) == OBSTACLE) {
if ((status = checkPoint(agent, pos.x, surface + 1, pos.z)) == OBSTACLE) {
int ncost = 0;
if ((status = checkPoint(agent, pos.x, surface, pos.z, ncost)) == OBSTACLE) {
if ((status = checkPoint(agent, pos.x, surface + 1, pos.z, ncost)) == OBSTACLE) {
return NON_PASSABLE;
} else if (status == NON_PASSABLE) {
++cost;
cost += 5;
}
cost += ncost;
return surface + 1;
} else {
if (status == NON_PASSABLE) {
++cost;
cost += 5;
}
if ((status = checkPoint(agent, pos.x, surface - 1, pos.z)) == OBSTACLE) {
if ((status = checkPoint(agent, pos.x, surface - 1, pos.z, ncost)) == OBSTACLE) {
cost += ncost;
return surface;
} else if (status == NON_PASSABLE) {
++cost;
cost += 5;
}
if ((status = checkPoint(agent, pos.x, surface - 2, pos.z)) == OBSTACLE) {
if ((status = checkPoint(agent, pos.x, surface - 2, pos.z, ncost)) == OBSTACLE) {
cost += ncost;
return surface - 1;
}
return NON_PASSABLE;