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use infinite cost for astar

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Ellpeck 2020-04-08 17:45:12 +02:00
parent f4bec17448
commit 38725d7267
1 changed files with 2 additions and 1 deletions
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MLEM/Pathfinding/AStar.cs
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@ -6,6 +6,7 @@ using System.Threading.Tasks;
namespace MLEM.Pathfinding { namespace MLEM.Pathfinding {
public abstract class AStar<T> { public abstract class AStar<T> {
public static readonly float InfiniteCost = float.PositiveInfinity;
public readonly T[] AllDirections; public readonly T[] AllDirections;
public readonly T[] AdjacentDirections; public readonly T[] AdjacentDirections;
public GetCost DefaultCostFunction; public GetCost DefaultCostFunction;
@ -65,7 +66,7 @@ namespace MLEM.Pathfinding {
foreach (var dir in dirsUsed) { foreach (var dir in dirsUsed) {
var neighborPos = this.AddPositions(current.Pos, dir); var neighborPos = this.AddPositions(current.Pos, dir);
var cost = getCost(current.Pos, neighborPos); var cost = getCost(current.Pos, neighborPos);
if (cost < float.MaxValue) { if (!float.IsInfinity(cost) && cost < float.MaxValue) {
var neighbor = new PathPoint<T>(neighborPos, this.GetManhattanDistance(neighborPos, goal), current, cost, defCost); var neighbor = new PathPoint<T>(neighborPos, this.GetManhattanDistance(neighborPos, goal), current, cost, defCost);
if (!closed.Contains(neighbor)) { if (!closed.Contains(neighbor)) {
var alreadyIndex = open.IndexOf(neighbor); var alreadyIndex = open.IndexOf(neighbor);