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Prevent creation of unnecessary waypoints

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This commit is contained in:
Manuel Vögele
2022-02-09 21:08:28 +01:00
parent db7dd1c1c9
commit 8eb29a4dce
1 changed files with 2 additions and 1 deletions
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rust/src/pathfinder.rs
+2 -1
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@@ -359,7 +359,8 @@ impl Pathfinder {
continue; continue;
} }
nodes.initialize_edges(neighbor, &self.walls); nodes.initialize_edges(neighbor, &self.walls);
let cost = current_node.borrow().cost + edge.cost; // Add a flat 0.00001 cost per node to discurage creation of unnecessary waypoints
let cost = current_node.borrow().cost + edge.cost + 0.00001;
let discovered_neighbor = DiscoveredNode { let discovered_neighbor = DiscoveredNode {
node: neighbor.clone(), node: neighbor.clone(),
cost, cost,