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Change initial pathfinding.

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This commit is contained in:
hal8174 2024-03-20 23:11:21 +01:00
parent 73c525985c
commit f25b58448e
5 changed files with 254 additions and 186 deletions
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31
src/belt_finding/conflict_avoidance.rs
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@ -69,6 +69,7 @@ impl ConflictAvoidance {
}
let mut belts = Vec::new();
for i in 0..problem.path.len() {
dbg!(&problem.path[i]);
let mut p = Vec::new();
p.push(PathField::Belt {
@ -76,22 +77,34 @@ impl ConflictAvoidance {
dir: problem.start[i].1,
});
for j in 0..problem.path[i].len() - 1 {
p.push(PathField::Belt {
pos: problem.path[i][j],
dir: Direction::from_neighbors(&problem.path[i][j], &problem.path[i][j + 1]),
});
for (pos, dir) in &problem.path[i][1..] {
let start = p.last().unwrap().end_pos();
let start = start.0.in_direction(&start.1, 1);
dbg!(start, pos);
if &start == pos {
p.push(PathField::Belt {
pos: *pos,
dir: *dir,
});
} else {
p.push(PathField::Underground {
pos: start,
dir: *dir,
len: u8::max((start.x - pos.x).abs() as u8, (start.y - pos.y).abs() as u8),
})
}
}
p.push(PathField::Belt {
pos: *problem.path[i].last().unwrap(),
dir: problem.end[i].1,
});
// p.push(PathField::Belt {
// pos: *problem.path[i].last().unwrap(),
// dir: problem.end[i].1,
// });
// p.push(PathField::Belt {
// pos: problem.end[i].0,
// dir: problem.end[i].1,
// });
dbg!(&p);
belts.push(p);
}