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prevent locally wandering paths by making diagonals cost 1.4x more #27

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prevent locally wandering paths by making diagonals cost 1.4x more #27

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22 changes: 21 additions & 1 deletion src/cpp/astar.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -97,11 +97,31 @@ static PyObject *astar(PyObject *self, PyObject *args) {
nbrs[6] = (row + 1 < h) ? cur.idx + w : -1;
nbrs[7] = (diag_ok && row + 1 < h && col + 1 < w ) ? cur.idx + w + 1 : -1;


// adding increased costs for diagonals
// for positions of:
// 0 1 2
// 3 4
// 5 6 7
// and heuristic costs of: (approximating sqrt(2) to 2 sig figs)
// 14 10 14
// 10 10
// 14 10 14
int* dir_costs = new int[8];
dir_costs[0] = 14;
dir_costs[1] = 10;
dir_costs[2] = 14;
dir_costs[3] = 10;
dir_costs[4] = 10;
dir_costs[5] = 14;
dir_costs[6] = 10;
dir_costs[7] = 14;

float heuristic_cost;
for (int i = 0; i < 8; ++i) {
if (nbrs[i] >= 0) {
// the sum of the cost so far and the cost of this move
float new_cost = costs[cur.idx] + weights[nbrs[i]];
float new_cost = costs[cur.idx] + weights[nbrs[i]] + dir_costs[i];
if (new_cost < costs[nbrs[i]]) {
// estimate the cost to the goal based on legal moves
if (diag_ok) {
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