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https://github.com/Ellpeck/MLEM.git
synced 2024-12-24 17:29:23 +01:00
use dictionaries in favor of lists for AStar to speed up pathfinding
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parent
a5c1b6c2b4
commit
4f63770de0
1 changed files with 18 additions and 20 deletions
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@ -1,6 +1,7 @@
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Threading.Tasks;
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namespace MLEM.Pathfinding {
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@ -91,25 +92,23 @@ namespace MLEM.Pathfinding {
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var tries = maxTries ?? this.DefaultMaxTries;
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var defCost = defaultCost ?? this.DefaultCost;
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var open = new List<PathPoint<T>>();
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var closed = new List<PathPoint<T>>();
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open.Add(new PathPoint<T>(start, this.GetManhattanDistance(start, goal), null, 0, defCost));
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var open = new Dictionary<T, PathPoint<T>>();
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var closed = new Dictionary<T, PathPoint<T>>();
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open.Add(start, new PathPoint<T>(start, this.GetManhattanDistance(start, goal), null, 0, defCost));
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var count = 0;
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Stack<T> ret = null;
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while (open.Count > 0) {
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PathPoint<T> current = null;
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var lowestF = float.MaxValue;
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foreach (var point in open)
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if (point.F < lowestF) {
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foreach (var point in open.Values) {
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if (current == null || point.F < current.F)
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current = point;
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lowestF = point.F;
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}
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}
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if (current == null)
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break;
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open.Remove(current);
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closed.Add(current);
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open.Remove(current.Pos);
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closed.Add(current.Pos, current);
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if (current.Pos.Equals(goal)) {
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ret = CompilePath(current);
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@ -120,20 +119,19 @@ namespace MLEM.Pathfinding {
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foreach (var dir in dirsUsed) {
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var neighborPos = this.AddPositions(current.Pos, dir);
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var cost = getCost(current.Pos, neighborPos);
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if (!float.IsInfinity(cost) && cost < float.MaxValue) {
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if (!float.IsInfinity(cost) && cost < float.MaxValue && !closed.ContainsKey(neighborPos)) {
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var neighbor = new PathPoint<T>(neighborPos, this.GetManhattanDistance(neighborPos, goal), current, cost, defCost);
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if (!closed.Contains(neighbor)) {
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var alreadyIndex = open.IndexOf(neighbor);
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if (alreadyIndex < 0) {
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open.Add(neighbor);
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// check if we already have a waypoint at this location with a worse path
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if (open.TryGetValue(neighborPos, out var alreadyNeighbor)) {
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if (neighbor.G < alreadyNeighbor.G) {
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open.Remove(neighborPos);
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} else {
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var alreadyNeighbor = open[alreadyIndex];
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if (neighbor.G < alreadyNeighbor.G) {
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open.Remove(alreadyNeighbor);
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open.Add(neighbor);
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}
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// if the old waypoint is better, we don't add ours
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continue;
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}
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}
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// add the new neighbor as a possible waypoint
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open.Add(neighborPos, neighbor);
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}
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}
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