fix PE heuristic

spring · Dec 3, 2016 · ae0ef2f · ae0ef2f
1 parent 9fe8876
commit ae0ef2f
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Showing 7 changed files with 13 additions and 13 deletions.
diff --git a/rts/Sim/Path/Default/IPathFinder.cpp b/rts/Sim/Path/Default/IPathFinder.cpp
@@ -189,7 +189,7 @@ IPath::SearchResult IPathFinder::InitSearch(const MoveDef& moveDef, const CPathF
 
 	// mark starting point as best found position
 	mGoalBlockIdx  = mStartBlockIdx;
-	mGoalHeuristic = pfDef.Heuristic(square.x, square.y);
+	mGoalHeuristic = pfDef.Heuristic(square.x, square.y, BLOCK_SIZE);
 
 	// perform the search
 	const IPath::SearchResult result = DoSearch(moveDef, pfDef, owner);

diff --git a/rts/Sim/Path/Default/PathDataTypes.h b/rts/Sim/Path/Default/PathDataTypes.h
@@ -35,7 +35,7 @@ struct PathNode {
 /// functor to define node priority
 struct lessCost: public std::binary_function<PathNode*, PathNode*, bool> {
 	inline bool operator() (const PathNode* x, const PathNode* y) const {
-		return (x->fCost ==  y->fCost) ? (x->gCost < y->gCost) : (x->fCost > y->fCost);
+		return (x->fCost == y->fCost) ? (x->gCost < y->gCost) : (x->fCost > y->fCost);
 	}
 };
 

diff --git a/rts/Sim/Path/Default/PathEstimator.cpp b/rts/Sim/Path/Default/PathEstimator.cpp
@@ -696,7 +696,7 @@ bool CPathEstimator::TestBlock(
 	const float nodeCost  = vertexCosts[vertexIdx] + extraCost;
 
 	const float gCost = parentOpenBlock->gCost + nodeCost;
-	const float hCost = peDef.Heuristic(square.x, square.y);
+	const float hCost = peDef.Heuristic(square.x, square.y, BLOCK_SIZE);
 	const float fCost = gCost + hCost;
 
 	// already in the open set?

diff --git a/rts/Sim/Path/Default/PathFinder.cpp b/rts/Sim/Path/Default/PathFinder.cpp
@@ -258,9 +258,9 @@ bool CPathFinder::TestBlock(
 	const float dirMoveCost = (1.0f + heatCost) * PF_DIRECTION_COSTS[pathOptDir];
 	const float nodeCost = (dirMoveCost / speedMod) + extraCost;
 
-	const float gCost = parentSquare->gCost + nodeCost;      // g
-	const float hCost = pfDef.Heuristic(square.x, square.y); // h
-	const float fCost = gCost + hCost;                       // f
+	const float gCost = parentSquare->gCost + nodeCost;                  // g
+	const float hCost = pfDef.Heuristic(square.x, square.y, BLOCK_SIZE); // h
+	const float fCost = gCost + hCost;                                   // f
 
 	if (blockStates.nodeMask[sqrIdx] & PATHOPT_OPEN) {
 		// already in the open set, look for a cost-improvement

diff --git a/rts/Sim/Path/Default/PathFinderDef.cpp b/rts/Sim/Path/Default/PathFinderDef.cpp
@@ -5,7 +5,6 @@
 #include "PathFinderDef.h"
 #include "Sim/MoveTypes/MoveDefHandler.h"
 
-
 CPathFinderDef::CPathFinderDef(const float3& goalCenter, float goalRadius, float sqGoalDistance)
 : goal(goalCenter)
 , sqGoalRadius(goalRadius * goalRadius)
@@ -30,12 +29,13 @@ bool CPathFinderDef::IsGoal(unsigned int xSquare, unsigned int zSquare) const {
 }
 
 // returns distance to goal center in heightmap-squares
-float CPathFinderDef::Heuristic(unsigned int xSquare, unsigned int zSquare) const
+float CPathFinderDef::Heuristic(unsigned int xSquare, unsigned int zSquare, unsigned int blockSize) const
 {
-	const float dx = std::abs(int(xSquare) - int(goalSquareX));
-	const float dz = std::abs(int(zSquare) - int(goalSquareZ));
+	const float  s = 1.0f / blockSize;
+	const float dx = std::abs(int(xSquare) - int(goalSquareX)) * s;
+	const float dz = std::abs(int(zSquare) - int(goalSquareZ)) * s;
 
-	// grid is 8-connected, so use octile distance
+	// grid is 8-connected, so use octile distance (normalized by block-size)
 	constexpr const float C1 = 1.0f;
 	constexpr const float C2 = 1.4142f - (2.0f * C1);
 	return ((dx + dz) * C1 + std::min(dx, dz) * C2);

diff --git a/rts/Sim/Path/Default/PathFinderDef.h b/rts/Sim/Path/Default/PathFinderDef.h
@@ -21,7 +21,7 @@ class CPathFinderDef {
 	void DisableConstraint(bool b) { constraintDisabled = b; }
 
 	bool IsGoal(unsigned int xSquare, unsigned int zSquare) const;
-	float Heuristic(unsigned int xSquare, unsigned int zSquare) const;
+	float Heuristic(unsigned int xSquare, unsigned int zSquare, unsigned int blockSize) const;
 	bool IsGoalBlocked(const MoveDef& moveDef, const CMoveMath::BlockType& blockMask, const CSolidObject* owner) const;
 	int2 GoalSquareOffset(unsigned int blockSize) const;
 

diff --git a/rts/Sim/Path/Default/PathManager.cpp b/rts/Sim/Path/Default/PathManager.cpp
@@ -116,7 +116,7 @@ IPath::SearchResult CPathManager::ArrangePath(
 	// NOTE: this distance can be far smaller than the actual path length!
 	// NOTE: take height difference into consideration for "special" cases
 	// (unit at top of cliff, goal at bottom or vv.)
-	const float heurGoalDist2D = pfDef->Heuristic(startPos.x / SQUARE_SIZE, startPos.z / SQUARE_SIZE) + math::fabs(goalPos.y - startPos.y) / SQUARE_SIZE;
+	const float heurGoalDist2D = pfDef->Heuristic(startPos.x / SQUARE_SIZE, startPos.z / SQUARE_SIZE, 1) + math::fabs(goalPos.y - startPos.y) / SQUARE_SIZE;
 	const float searchDistances[] = {std::numeric_limits<float>::max(), MEDRES_SEARCH_DISTANCE, MAXRES_SEARCH_DISTANCE};
 
 	// MAX_SEARCHED_NODES_PF is 65536, MAXRES_SEARCH_DISTANCE is 50 squares