fixed CCmpPathfinder::GetMovementSpeed(entity_pos_t x0, entity_pos_t z0, u8 costClass)
{
UpdateGrid();
u16 i, j;
NearestTile(x0, z0, i, j);
TerrainTile tileTag = m_Grid->get(i, j);
return m_MoveSpeeds.at(costClass).at(GET_COST_CLASS(tileTag));
}
// Do the A* processing for a neighbour tile i,j.
static void ProcessNeighbour(u16 pi, u16 pj, u16 i, u16 j, u32 pg, PathfinderState& state)
{
#if PATHFIND_STATS
state.numProcessed++;
#endif
// Reject impassable tiles
TerrainTile tileTag = state.terrain->get(i, j);
if (!IS_PASSABLE(tileTag, state.passClass) && !state.ignoreImpassable)
return;
u32 dg = CalculateCostDelta(pi, pj, i, j, state.tiles, state.moveCosts.at(GET_COST_CLASS(tileTag)));
u32 g = pg + dg; // cost to this tile = cost to predecessor + delta from predecessor
PathfindTile& n = state.tiles->get(i, j);
// If this is a new tile, compute the heuristic distance
if (n.IsUnexplored())
{
n.h = CalculateHeuristic(i, j, state.iGoal, state.jGoal, state.rGoal);
// Remember the best tile we've seen so far, in case we never actually reach the target
if (n.h < state.hBest)
{
state.hBest = n.h;
state.iBest = i;
state.jBest = j;
}
}
else
{
// If we've already seen this tile, and the new path to this tile does not have a
// better cost, then stop now
if (g >= n.cost)
return;
// Otherwise, we have a better path.
// If we've already added this tile to the open list:
if (n.IsOpen())
{
// This is a better path, so replace the old one with the new cost/parent
n.cost = g;
n.SetPred(pi, pj, i, j);
n.SetStep(state.steps);
state.open.promote(std::make_pair(i, j), g + n.h);
#if PATHFIND_STATS
state.numImproveOpen++;
#endif
return;
}
// If we've already found the 'best' path to this tile:
if (n.IsClosed())
{
// This is a better path (possible when we use inadmissible heuristics), so reopen it
#if PATHFIND_STATS
state.numImproveClosed++;
#endif
// (fall through)
}
}
// Add it to the open list:
n.SetStatusOpen();
n.cost = g;
n.SetPred(pi, pj, i, j);
n.SetStep(state.steps);
PriorityQueue::Item t = { std::make_pair(i, j), g + n.h };
state.open.push(t);
#if PATHFIND_STATS
state.numAddToOpen++;
#endif
}
