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Waypoints

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This commit is contained in:
Frank
2020-07-21 17:53:59 +02:00
parent d9b7cc18f3
commit af023c1994
8 changed files with 1111 additions and 143 deletions
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22
Moose Development/Moose/Core/Astar.lua
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@@ -1,4 +1,4 @@
--- **Core** - Pathfinding.
--- **Core** - A* Pathfinding.
--
-- **Main Features:**
--
@@ -272,7 +272,7 @@ end
-- @param #ASTAR.Node nodeA Node A.
-- @param #ASTAR.Node nodeB Node B.
-- @return #number Distance between nodes in meters.
function ASTAR:dist_between ( nodeA, nodeB )
function ASTAR:DistNodes ( nodeA, nodeB )
return nodeA.coordinate:Get2DDistance(nodeB.coordinate)
end
@@ -281,8 +281,8 @@ end
-- @param #ASTAR.Node nodeA Node A.
-- @param #ASTAR.Node nodeB Node B.
-- @return #number Distance between nodes in meters.
function ASTAR:heuristic_cost_estimate( nodeA, nodeB )
return self:dist_between(nodeA, nodeB)
function ASTAR:HeuristicCost( nodeA, nodeB )
return self:DistNodes(nodeA, nodeB)
end
--- Function
@@ -318,7 +318,7 @@ end
--- Function
-- @param #ASTAR self
function ASTAR:neighbor_nodes ( theNode, nodes )
function ASTAR:neighbor_nodes(theNode, nodes)
local neighbors = {}
for _, node in ipairs ( nodes ) do
@@ -360,11 +360,11 @@ end
--- Function
-- @param #ASTAR self
function ASTAR:unwind_path ( flat_path, map, current_node )
function ASTAR:UnwindPath( flat_path, map, current_node )
if map [ current_node ] then
table.insert ( flat_path, 1, map [ current_node ] )
return self:unwind_path ( flat_path, map, map [ current_node ] )
return self:UnwindPath ( flat_path, map, map [ current_node ] )
else
return flat_path
end
@@ -393,14 +393,14 @@ function ASTAR:GetPath()
g_score [ start ] = 0
f_score [ start ] = g_score [ start ] + self:heuristic_cost_estimate ( start, goal )
f_score [ start ] = g_score [ start ] + self:HeuristicCost ( start, goal )
while #openset > 0 do
local current = self:lowest_f_score ( openset, f_score )
if current == goal then
local path = self:unwind_path ( {}, came_from, goal )
local path = self:UnwindPath ( {}, came_from, goal )
table.insert(path, goal)
return path
end
@@ -414,13 +414,13 @@ function ASTAR:GetPath()
if self:not_in ( closedset, neighbor ) then
local tentative_g_score = g_score [ current ] + self:dist_between ( current, neighbor )
local tentative_g_score = g_score [ current ] + self:DistNodes ( current, neighbor )
if self:not_in ( openset, neighbor ) or tentative_g_score < g_score [ neighbor ] then
came_from [ neighbor ] = current
g_score [ neighbor ] = tentative_g_score
f_score [ neighbor ] = g_score [ neighbor ] + self:heuristic_cost_estimate ( neighbor, goal )
f_score [ neighbor ] = g_score [ neighbor ] + self:HeuristicCost ( neighbor, goal )
if self:not_in ( openset, neighbor ) then
table.insert ( openset, neighbor )