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feat: soft entity collision, dead code removal, leaf standability fix

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- Add TileOccupancy resource and rebuild_tile_occupancy system to track
  per-tile entity counts for soft collision avoidance
- Add collision_delay to Ambulatory; entities try relative-left step on
  occupied tiles, wait 1 tick, then push through
- Fix leaf canopy standability: leaves are now can_stand_in=true,
  can_stand_on=false (walkable, not standable-on)
- Delete FloorTilePrefab / FixtureTilePrefab / FloorTile / FixtureTile /
  TileState (all fully dead — TileMap + ChunkData are sole truth)
- Delete tile_spawns from TerrainBlob (populated but never consumed)
- Delete leaf ghost entity spawn in forestry (orphaned invisible ECS entity)
- Replace log prefab spawn with inline commands.spawn(Transform, Visibility)
- Add TileMap::remove_fixture for future digging/explosion use
- Skip collision avoidance when current tile has >2 entities (handles spawn
  cluster deadlock)
This commit is contained in:
popertots
2026-03-21 01:36:38 +00:00
parent 1fe4781bab
commit 90a6196443
25 changed files with 1909 additions and 498 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/entities/livestock/pig.rs
+1
View File
@@ -30,6 +30,7 @@ impl Pig {
path_index: 0,
step_recovery: 0,
validation_cooldown: 0,
collision_delay: 0,
},
sprite: Sprite {
image: asset_server.load("pig.png"),
src/entities/livestock/rabbit.rs
+1
View File
@@ -27,6 +27,7 @@ impl Rabbit {
path_index: 0,
step_recovery: 0,
validation_cooldown: 0,
collision_delay: 0,
},
sprite: Sprite {
image: asset_server.load("rabbit.png"),
src/entities/sentient/dorf.rs
+1
View File
@@ -27,6 +27,7 @@ impl Dorf {
path_index: 0,
step_recovery: 0,
validation_cooldown: 0,
collision_delay: 0,
},
sprite: Sprite {
image: asset_server.load("dorf.png"),
src/entities/shared_components/ambulatory.rs
+2
View File
@@ -10,6 +10,7 @@ pub struct Ambulatory {
pub target: Option<Vec3>,
pub step_recovery: u32,
pub validation_cooldown: u8,
pub collision_delay: u8,
}
impl Default for Ambulatory {
@@ -22,6 +23,7 @@ impl Default for Ambulatory {
target: None,
step_recovery: 0,
validation_cooldown: 0,
collision_delay: 0,
}
}
}
src/entities/shared_systems/mod.rs
+1
View File
@@ -1 +1,2 @@
pub mod occupancy;
pub mod pathfinding;
src/entities/shared_systems/occupancy.rs
+33
View File
@@ -0,0 +1,33 @@
use crate::constants::ITILE_SIZE;
use crate::entities::shared_components::Ambulatory;
use bevy::prelude::*;
use rustc_hash::FxHashMap;
#[derive(Resource, Default)]
pub struct TileOccupancy {
pub counts: FxHashMap<(i32, i32), u8>,
}
impl TileOccupancy {
#[inline]
pub fn count_at(&self, world_pos: Vec3) -> u8 {
let tx = (world_pos.x as i32) / ITILE_SIZE;
let ty = (world_pos.y as i32) / ITILE_SIZE;
*self.counts.get(&(tx, ty)).unwrap_or(&0)
}
}
pub fn rebuild_tile_occupancy(
mut occupancy: ResMut<TileOccupancy>,
query: Query<&Transform, With<Ambulatory>>,
) {
occupancy.counts.clear();
for transform in query.iter() {
let tx = (transform.translation.x as i32) / ITILE_SIZE;
let ty = (transform.translation.y as i32) / ITILE_SIZE;
let count = occupancy.counts.entry((tx, ty)).or_insert(0);
if *count < 255 {
*count += 1;
}
}
}
src/entities/shared_systems/pathfinding.rs
+266 -261
View File
@@ -61,8 +61,9 @@ use std::{cell::RefCell, collections::BinaryHeap, collections::VecDeque, time::I
use crate::constants::{
ITILE_SIZE, PATHFINDER_HIERARCHICAL_THRESHOLD_CHUNKS, PATHFINDER_MAX_NODES,
PATHFINDER_PROVISIONAL_NODE_LIMIT, TILE_SIZE,
PATHFINDER_PROVISIONAL_NODE_LIMIT, PIXEL_RATIO, TILE_SIZE,
};
use crate::entities::shared_systems::occupancy::{rebuild_tile_occupancy, TileOccupancy};
use crate::world::tiles::TileMap;
use crate::world::{
chunks::CHUNK_SIZE,
@@ -215,9 +216,16 @@ impl Plugin for PathfindingPlugin {
.insert_resource(crate::entities::shared_components::CompletedPaths::default())
.insert_resource(crate::entities::shared_components::PathRequestCounter::default())
.insert_resource(PathRequestQueue::default())
.init_resource::<TileOccupancy>()
.add_systems(
FixedUpdate,
(prepare_paths, update_wandering_targets, movement).chain(),
(
rebuild_tile_occupancy,
prepare_paths,
update_wandering_targets,
movement,
)
.chain(),
)
.add_systems(
PostUpdate,
@@ -266,10 +274,11 @@ pub fn prepare_paths(
ambulatory.path_index = 0;
} else if chunk_distance > PATHFINDER_HIERARCHICAL_THRESHOLD_CHUNKS {
let chunk_path = calculate_chunk_path(&chunk_map, start_chunk, goal_chunk);
let provisional_goal = goal;
let provisional = calculate_provisional_path(
&tilemap,
start,
goal,
provisional_goal,
PATHFINDER_PROVISIONAL_NODE_LIMIT,
);
if !provisional.is_empty() {
@@ -296,8 +305,14 @@ pub fn prepare_paths(
});
} else {
let path = calculate_path_benchmarked(&tilemap, start, goal);
ambulatory.current_path = Some(path);
ambulatory.path_index = 0;
if path.len() <= 1 {
// Path failed — clear target so entity picks a new reachable one
ambulatory.target = None;
ambulatory.current_path = None;
} else {
ambulatory.current_path = Some(path);
ambulatory.path_index = 0;
}
}
} else {
let provisional = calculate_provisional_path(
@@ -326,8 +341,14 @@ pub fn prepare_paths(
});
} else {
let path = calculate_path_benchmarked(&tilemap, start, goal);
ambulatory.current_path = Some(path);
ambulatory.path_index = 0;
if path.len() <= 1 {
// Path failed — clear target so entity picks a new reachable one
ambulatory.target = None;
ambulatory.current_path = None;
} else {
ambulatory.current_path = Some(path);
ambulatory.path_index = 0;
}
}
}
}
@@ -337,17 +358,12 @@ pub fn process_path_queue(
mut commands: Commands,
mut queue: ResMut<PathRequestQueue>,
tilemap: Res<TileMap>,
_chunk_map: Res<ChunkMap>,
mut rng_q: Query<&mut WyRand, With<GlobalRng>>,
chunk_map: Res<ChunkMap>,
mut query: Query<
(Entity, &mut Ambulatory, &Transform),
With<crate::entities::shared_components::PendingPath>,
>,
) {
let Ok(mut rng) = rng_q.single_mut() else {
return;
};
let mut processed = 0;
while processed < MAX_PATHS_PER_FRAME {
if let Some(request) = queue.pending.pop_front() {
@@ -360,18 +376,27 @@ pub fn process_path_queue(
let current_chunk = world_to_chunk(actual_start);
if let Some(next_chunk) = chunk_waypoints.iter().find(|&&c| c != current_chunk)
{
let waypoint = directional_chunk_waypoint(
match directional_chunk_waypoint(
actual_start,
*next_chunk,
request.goal,
&tilemap,
&mut rng,
);
let segment_path =
calculate_path_benchmarked(&tilemap, actual_start, waypoint);
if !segment_path.is_empty() {
ambulatory.current_path = Some(segment_path);
ambulatory.path_index = 0;
&chunk_map,
) {
None => {
// Chunk unloaded or no standable tiles — abandon this path,
// entity will retarget via prepare_paths next frame
ambulatory.current_path = None;
ambulatory.target = None;
}
Some(waypoint) => {
let segment_path =
calculate_path_benchmarked(&tilemap, actual_start, waypoint);
if !segment_path.is_empty() {
ambulatory.current_path = Some(segment_path);
ambulatory.path_index = 0;
}
}
}
}
} else {
@@ -447,37 +472,75 @@ pub fn update_wandering_targets(
return;
};
for (mut ambulatory, _) in query.iter_mut() {
if ambulatory.target.is_none()
|| (ambulatory.current_path.is_some()
&& ambulatory.path_index >= ambulatory.current_path.as_ref().unwrap().len())
{
let loaded_chunks: Vec<&IVec2> = chunk_map.loaded_chunks.keys().collect();
if !loaded_chunks.is_empty() {
let random_index = rng.random_range(0..loaded_chunks.len());
if let Some(&chunk_pos) = loaded_chunks.get(random_index) {
let chunk_x = chunk_pos.x * CHUNK_SIZE;
let chunk_y = chunk_pos.y * CHUNK_SIZE;
for (mut ambulatory, transform) in query.iter_mut() {
if ambulatory.target.is_none() {
// Only target interior chunks — exclude boundary chunks that
// have unloaded neighbours, which strand entities at world edges.
let current_chunk = world_to_chunk(transform.translation.as_ivec3());
let target_x = chunk_x + rng.random_range(0..CHUNK_SIZE);
let target_y = chunk_y + rng.random_range(0..CHUNK_SIZE);
// Reservoir sampling - pick one interior chunk with zero allocation
let mut chosen: Option<IVec2> = None;
let mut count = 0usize;
for &chunk in chunk_map.loaded_chunks.keys() {
let dx = (chunk.x - current_chunk.x).abs();
let dy = (chunk.y - current_chunk.y).abs();
if dx <= 2 && dy <= 2 {
continue;
}
if !chunk_map
.loaded_chunks
.contains_key(&IVec2::new(chunk.x + 1, chunk.y))
{
continue;
}
if !chunk_map
.loaded_chunks
.contains_key(&IVec2::new(chunk.x - 1, chunk.y))
{
continue;
}
if !chunk_map
.loaded_chunks
.contains_key(&IVec2::new(chunk.x, chunk.y + 1))
{
continue;
}
if !chunk_map
.loaded_chunks
.contains_key(&IVec2::new(chunk.x, chunk.y - 1))
{
continue;
}
count += 1;
if rng.random_range(0..count) == 0 {
chosen = Some(chunk);
}
}
for z in -3..=4 {
let mut target_pos = IVec3::new(target_x, target_y, z) * ITILE_SIZE;
if tilemap.floor_tiles.get(&target_pos).is_some() {
target_pos.z += ITILE_SIZE;
if tilemap.floor_tiles.get(&target_pos).is_some()
&& is_standable_tile(&tilemap, target_pos)
{
ambulatory.target = Some(Vec3::new(
target_pos.x as f32,
target_pos.y as f32,
target_pos.z as f32 + 1.0,
));
ambulatory.current_path = None;
ambulatory.path_index = 0;
break;
}
// Fallback to any chunk if no interior chunks found (small map / startup)
let target_chunk = chosen.or_else(|| chunk_map.loaded_chunks.keys().next().copied());
if let Some(chunk_pos) = target_chunk {
let chunk_x = chunk_pos.x * CHUNK_SIZE;
let chunk_y = chunk_pos.y * CHUNK_SIZE;
let target_x = chunk_x + rng.random_range(0..CHUNK_SIZE);
let target_y = chunk_y + rng.random_range(0..CHUNK_SIZE);
for z in -3..=4 {
let mut target_pos = IVec3::new(target_x, target_y, z) * ITILE_SIZE;
if tilemap.floor_tiles.get(&target_pos).is_some() {
target_pos.z += ITILE_SIZE;
if tilemap.floor_tiles.get(&target_pos).is_some()
&& is_standable_tile(&tilemap, target_pos)
{
ambulatory.target = Some(Vec3::new(
target_pos.x as f32,
target_pos.y as f32,
target_pos.z as f32 + 1.0,
));
ambulatory.current_path = None;
ambulatory.path_index = 0;
break;
}
}
}
@@ -486,7 +549,11 @@ pub fn update_wandering_targets(
}
}
pub fn movement(mut query: Query<(&mut Ambulatory, &mut Transform)>, tilemap: Res<TileMap>) {
pub fn movement(
mut query: Query<(&mut Ambulatory, &mut Transform)>,
tilemap: Res<TileMap>,
occupancy: Res<TileOccupancy>,
) {
query
.par_iter_mut()
.for_each(|(mut ambulatory, mut transform)| {
@@ -528,6 +595,42 @@ pub fn movement(mut query: Query<(&mut Ambulatory, &mut Transform)>, tilemap: Re
if let Some(path) = &ambulatory.current_path {
if ambulatory.path_index < path.len() {
let next_point = path[ambulatory.path_index];
if ambulatory.collision_delay > 0 {
ambulatory.collision_delay -= 1;
return;
}
let current_crowded = occupancy.count_at(transform.translation) > 2;
let occupied = !current_crowded && occupancy.count_at(next_point) > 0;
if occupied {
let move_dir = next_point - transform.translation;
if move_dir.length_squared() > 0.0 {
let left_dir =
Vec3::new(-move_dir.y, move_dir.x, 0.0).normalize() * TILE_SIZE;
let left_raw = transform.translation + left_dir;
let left_point = Vec3::new(
(left_raw.x / TILE_SIZE).round() * TILE_SIZE,
(left_raw.y / TILE_SIZE).round() * TILE_SIZE,
transform.translation.z,
);
let left_free = tilemap.is_standable(left_point.as_ivec3())
&& occupancy.count_at(left_point) == 0;
if left_free {
if left_dir.x > 0.0 {
transform.scale.x = PIXEL_RATIO;
} else if left_dir.x < 0.0 {
transform.scale.x = -PIXEL_RATIO;
}
transform.translation = left_point;
return;
}
}
ambulatory.collision_delay = 1;
return;
}
let direction = (next_point - transform.translation).normalize();
transform.translation = next_point;
@@ -542,7 +645,11 @@ pub fn movement(mut query: Query<(&mut Ambulatory, &mut Transform)>, tilemap: Re
}
} else {
ambulatory.current_path = None;
ambulatory.target = None;
if let Some(target) = ambulatory.target {
if transform.translation.distance(target) < TILE_SIZE * 2.0 {
ambulatory.target = None;
}
}
}
}
});
@@ -575,93 +682,130 @@ fn directional_chunk_waypoint(
next_chunk: IVec2,
goal: IVec3,
tilemap: &TileMap,
_rng: &mut WyRand,
) -> IVec3 {
chunk_map: &ChunkMap,
) -> Option<IVec3> {
if !chunk_map.loaded_chunks.contains_key(&next_chunk) {
return None;
}
let cx = next_chunk.x * CHUNK_SIZE;
let cy = next_chunk.y * CHUNK_SIZE;
// Determine entry edge of the destination chunk.
// We work in ITILE units so 1 step = one tile of movement.
let cur_tile = current_pos / ITILE_SIZE;
let goal_tile = goal / ITILE_SIZE;
let dir = goal_tile - cur_tile;
let straight = goal - current_pos;
// Edge: X-dominant → top/bottom; Y-dominant → left/right; tie → use Y
let (fixed_axis, fixed_tile, var_min, var_max): (bool, i32, i32, i32) =
if dir.x.abs() >= dir.y.abs() {
// Moving east (+) or west (-)
if dir.x >= 0 {
(true, cx + CHUNK_SIZE - 1, cy, cy + CHUNK_SIZE - 1) // east edge
} else {
(true, cx, cy, cy + CHUNK_SIZE - 1) // west edge
}
let mut candidates = arrayvec::ArrayVec::<IVec3, 16>::new();
let mut scan_edge = |fixed_axis: bool, fixed_tile: i32, var_min: i32, var_max: i32| {
let var_range = var_max - var_min;
let step = if var_range <= 0 {
1
} else {
// Moving north (+) or south (-)
if dir.y >= 0 {
(false, cy + CHUNK_SIZE - 1, cx, cx + CHUNK_SIZE - 1) // north edge
} else {
(false, cy, cx, cx + CHUNK_SIZE - 1) // south edge
}
(var_range / 7).max(1)
};
// Collect up to 8 standable edge tiles.
let mut candidates: Vec<IVec3> = Vec::with_capacity(8);
let var_range = var_max - var_min;
let step = if var_range <= 0 {
1
} else {
(var_range / 7).max(1)
let mut var = var_min;
while var <= var_max {
let (tile_x, tile_y) = if fixed_axis {
(fixed_tile, var)
} else {
(var, fixed_tile)
};
let world_pos = IVec3::new(
tile_x * ITILE_SIZE,
tile_y * ITILE_SIZE,
cur_tile.z * ITILE_SIZE,
);
if tilemap.is_standable(world_pos) {
candidates.push(world_pos);
}
var += step;
}
};
let mut var = var_min;
while var <= var_max {
let (tile_x, tile_y) = if fixed_axis {
(fixed_tile, var)
} else {
(var, fixed_tile)
};
let near_diagonal = (dir.x.abs() - dir.y.abs()).abs() < CHUNK_SIZE / 2;
// Match the z-level of the current tile so we don't jump z-levels here.
let world_pos = IVec3::new(
tile_x * ITILE_SIZE,
tile_y * ITILE_SIZE,
cur_tile.z * ITILE_SIZE,
if dir.x.abs() >= dir.y.abs() {
scan_edge(
true,
if dir.x >= 0 { cx } else { cx + CHUNK_SIZE - 1 },
cy,
cy + CHUNK_SIZE - 1,
);
if tilemap.is_standable(world_pos) {
candidates.push(world_pos);
if candidates.len() >= 8 {
break;
}
if near_diagonal {
scan_edge(
false,
if dir.y >= 0 { cy } else { cy + CHUNK_SIZE - 1 },
cx,
cx + CHUNK_SIZE - 1,
);
}
} else {
scan_edge(
false,
if dir.y >= 0 { cy } else { cy + CHUNK_SIZE - 1 },
cx,
cx + CHUNK_SIZE - 1,
);
if near_diagonal {
scan_edge(
true,
if dir.x >= 0 { cx } else { cx + CHUNK_SIZE - 1 },
cy,
cy + CHUNK_SIZE - 1,
);
}
var += step;
}
if candidates.is_empty() {
// Fallback: chunk centre (the old behaviour)
IVec3::new(
let centre = IVec3::new(
(cx + CHUNK_SIZE / 2) * ITILE_SIZE,
(cy + CHUNK_SIZE / 2) * ITILE_SIZE,
cur_tile.z * ITILE_SIZE,
)
);
if tilemap.is_standable(centre) {
return Some(centre);
}
for lx in 0..CHUNK_SIZE {
for ly in 0..CHUNK_SIZE {
let p = IVec3::new(
(cx + lx) * ITILE_SIZE,
(cy + ly) * ITILE_SIZE,
cur_tile.z * ITILE_SIZE,
);
if tilemap.is_standable(p) {
return Some(p);
}
}
}
None
} else {
// Pick the candidate closest to the straight-line projection.
let straight = goal - current_pos;
let _straight_len_sq =
straight.x * straight.x + straight.y * straight.y + straight.z * straight.z;
candidates
// Find the candidate most aligned with the straight-line direction
let best = candidates
.iter()
.min_by(|&&a, &&b| {
.enumerate()
.max_by(|(_, &a), (_, &b)| {
let da = a - current_pos;
let db = b - current_pos;
// Dot product with straight direction: higher = more aligned
let proj_a = (da.x * straight.x + da.y * straight.y + da.z * straight.z) as i64;
let proj_b = (db.x * straight.x + db.y * straight.y + db.z * straight.z) as i64;
proj_b.cmp(&proj_a)
(da.x * straight.x + da.y * straight.y + da.z * straight.z)
.cmp(&(db.x * straight.x + db.y * straight.y + db.z * straight.z))
})
.copied()
.unwrap()
.map(|(idx, _)| idx)
.unwrap_or(0);
// Spread entities using both their start position AND goal position as entropy.
// current_pos varies per entity (each is at a different world position).
// goal varies per entity (each has a different random wander target).
// Together they produce unique spread values for entities even when
// heading through the same chunk, without needing to pass entity ID.
let entropy = (cur_tile.x.unsigned_abs() as usize)
.wrapping_mul(1619)
.wrapping_add((cur_tile.y.unsigned_abs() as usize).wrapping_mul(31337))
.wrapping_add((goal_tile.x.unsigned_abs() as usize).wrapping_mul(6271))
.wrapping_add((goal_tile.y.unsigned_abs() as usize).wrapping_mul(2053));
let spread = entropy % candidates.len();
let idx = (best + spread) % candidates.len();
Some(candidates[idx])
}
}
@@ -727,103 +871,6 @@ fn reconstruct_path(came_from: &FxHashMap<IVec3, IVec3>, mut current: IVec3) ->
path
}
fn line_of_sight(tilemap: &TileMap, from: IVec3, to: IVec3) -> bool {
let dx = (to.x - from.x).abs();
let dy = (to.y - from.y).abs();
let dz = (to.z - from.z).abs();
let sx = if from.x < to.x {
1
} else if from.x > to.x {
-1
} else {
0
};
let sy = if from.y < to.y {
1
} else if from.y > to.y {
-1
} else {
0
};
let sz = if from.z < to.z {
1
} else if from.z > to.z {
-1
} else {
0
};
let mut x = from.x;
let mut y = from.y;
let mut z = from.z;
let mut err_x = dx / 2;
let mut err_y = dy / 2;
let mut err_z = dz / 2;
let mut err = err_x + err_y + err_z;
let steps = (dx + dy + dz) as i32;
for _ in 0..steps {
if !is_standable_tile(tilemap, IVec3::new(x, y, z)) {
return false;
}
if err_x < 0 {
x += sx;
err_x += dy + dz;
} else if err_x >= dx {
x -= sx;
err_x -= dy + dz;
}
if err_y < 0 {
y += sy;
err_y += dx + dz;
} else if err_y >= dy {
y -= sy;
err_y -= dx + dz;
}
if err_z < 0 {
z += sz;
err_z += dx + dy;
} else if err_z >= dz {
z -= sz;
err_z -= dx + dy;
}
if x == to.x && y == to.y && z == to.z {
return true;
}
err = err_x + err_y + err_z;
}
is_standable_tile(tilemap, to)
}
fn theta_line_cost(from: IVec3, to: IVec3) -> i32 {
let dx = (to.x - from.x).abs() / ITILE_SIZE;
let dy = (to.y - from.y).abs() / ITILE_SIZE;
let dz = (to.z - from.z).abs() / ITILE_SIZE;
let dmax = dx.max(dy).max(dz);
let dmid = dx.min(dy).min(dz);
let dmin = dx + dy + dz - dmax - dmid;
(10 * dmax + 4 * dmid + dmin).max(10)
}
fn smooth_path(path: &[Vec3], tilemap: &TileMap) -> Vec<Vec3> {
if path.len() < 3 {
return path.to_vec();
}
let mut result = Vec::with_capacity(path.len());
result.push(path[0]);
let mut i = 0;
while i < path.len() - 1 {
let mut j = path.len() - 1;
while j > i + 1 {
if line_of_sight(tilemap, path[i].as_ivec3(), path[j].as_ivec3()) {
break;
}
j -= 1;
}
result.push(path[j]);
i = j;
}
result
}
pub fn calculate_path_benchmarked(tilemap: &TileMap, start: IVec3, goal: IVec3) -> Vec<Vec3> {
let timer = Instant::now();
@@ -882,10 +929,7 @@ fn calculate_path_with_scratchpad(
nodes_expanded += 1;
if nodes_expanded > PATHFINDER_MAX_NODES {
return (
reconstruct_path(&scratch.came_from, current),
nodes_expanded,
);
return (Vec::new(), nodes_expanded); // force retarget
}
if current == goal {
@@ -899,22 +943,6 @@ fn calculate_path_with_scratchpad(
let current_g = *scratch.g_scores.get(&current).unwrap_or(&i32::MAX);
if let Some(&parent) = scratch.came_from.get(&current) {
if scratch.came_from.contains_key(&parent) {
let gp = *scratch.came_from.get(&parent).unwrap();
if line_of_sight(tilemap, gp, current) {
let gp_g = *scratch.g_scores.get(&gp).unwrap_or(&i32::MAX);
let via_gp = gp_g + theta_line_cost(gp, current);
if via_gp < current_g {
scratch.came_from.insert(current, gp);
scratch.g_scores.insert(current, via_gp);
}
}
}
}
let current_g_updated = *scratch.g_scores.get(&current).unwrap_or(&i32::MAX);
for &move_dir in &ALLOWED_MOVES {
let neighbor_pos = current + move_dir;
@@ -930,36 +958,16 @@ fn calculate_path_with_scratchpad(
continue;
}
let via_current_g = current_g_updated + movement_cost;
let new_g = current_g + movement_cost;
if let Some(&neighbor_parent) = scratch.came_from.get(&neighbor_pos) {
if scratch.came_from.contains_key(&neighbor_parent) {
let np_g = *scratch.g_scores.get(&neighbor_parent).unwrap_or(&i32::MAX);
if line_of_sight(tilemap, neighbor_parent, neighbor_pos) {
let via_np_gp = np_g + theta_line_cost(neighbor_parent, neighbor_pos);
if via_np_gp < via_current_g {
scratch.came_from.insert(neighbor_pos, neighbor_parent);
scratch.g_scores.insert(neighbor_pos, via_np_gp);
let f = via_np_gp + octile_distance_3d(neighbor_pos, goal);
scratch.open_set.push(PathNode {
position: neighbor_pos,
f_score: f,
g_score: via_np_gp,
});
continue;
}
}
}
}
if via_current_g < *scratch.g_scores.get(&neighbor_pos).unwrap_or(&i32::MAX) {
if new_g < *scratch.g_scores.get(&neighbor_pos).unwrap_or(&i32::MAX) {
scratch.came_from.insert(neighbor_pos, current);
scratch.g_scores.insert(neighbor_pos, via_current_g);
let f = via_current_g + octile_distance_3d(neighbor_pos, goal);
scratch.g_scores.insert(neighbor_pos, new_g);
let f = new_g + octile_distance_3d(neighbor_pos, goal);
scratch.open_set.push(PathNode {
position: neighbor_pos,
f_score: f,
g_score: via_current_g,
g_score: new_g,
});
}
}
@@ -1021,10 +1029,7 @@ pub fn calculate_provisional_path(
}
if nodes_expanded >= node_limit {
return (
reconstruct_path(&scratch.came_from, best_node),
nodes_expanded,
);
return (Vec::new(), nodes_expanded);
}
scratch.closed_set.insert(current);