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Use calculateStepCost with slope penalties in Pathfinder::findPath

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bart
2026-11-08 17:08:20 +01:00
parent 23d31b8258
commit fa8ff1898d
1 changed files with 10 additions and 7 deletions
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pathfinder.cpp
+10 -7
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@@ -101,7 +101,8 @@ std::vector<std::pair<int, int>> Pathfinder::findPath(
int startPacked = packCoord(startX, startY);
gScore[startPacked] = 0.0f;
openSet.push({startX, startY, 0.0f, (float)hexDistance(startX, startY, goalX, goalY)});
float minCost = TerrainMovementManager::instance().getConfig().minStepCost;
openSet.push({startX, startY, 0.0f, (float)hexDistance(startX, startY, goalX, goalY) * minCost});
int maxIterations = 5000;
int iterations = 0;
@@ -126,21 +127,23 @@ std::vector<std::pair<int, int>> Pathfinder::findPath(
if (nx < 0 || nx >= MAP_WIDTH || ny < 0 || ny >= MAP_HEIGHT) continue;
// Check if neighbor hex is passable for this unit's domain
if (!TerrainMovementManager::instance().isHexPassable(nx, ny, domain, mapPoints, numPoints05, unitConfig)) {
// Calculate step cost taking into account terrain penalty and slope (uphill penalty or downhill bonus)
float stepCost = TerrainMovementManager::instance().calculateStepCost(
current.x, current.y, nx, ny, domain, mapPoints, numPoints05, unitConfig
);
// If impassable or cliff too steep
if (stepCost < 0.0f) {
continue;
}
// Step cost from configurable terrain movement manager
float stepCost = TerrainMovementManager::instance().getHexMovementCost(nx, ny, mapPoints, numPoints05);
float tentativeG = current.g + stepCost;
int nPacked = packCoord(nx, ny);
if (!gScore.count(nPacked) || tentativeG < gScore[nPacked]) {
gScore[nPacked] = tentativeG;
cameFrom[nPacked] = currPacked;
float h = (float) hexDistance(nx, ny, goalX, goalY);
float h = (float) hexDistance(nx, ny, goalX, goalY) * minCost;
openSet.push({nx, ny, tentativeG, tentativeG + h});
}
}