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keep track of visited nodes to prevent infinite recursion

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Humza Shahid
2025-01-18 10:09:08 +00:00
parent f796f2f858
commit 00a9f22151
1 changed files with 94 additions and 60 deletions
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154
fcore/enemy-behaviour.sml
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@@ -132,17 +132,32 @@ struct
end
(* new pathfinding using quad tree *)
fun helpHasVisited (pos, find, visited) =
if pos = Vector.length visited then
false
else
let val cur = Vector.sub (visited, pos)
in cur = find orelse helpHasVisited (pos + 1, find, visited)
end
fun hasVisted (find, visited) =
helpHasVisited (0, Char.chr find, visited)
fun getUpwardsPath
(playerPlatID, currentPlatID, platforms, platformTree, dist) =
(playerPlatID, currentPlatID, platforms, platformTree, dist, visited) =
if playerPlatID = currentPlatID then
(dist, [currentPlatID])
else
let
(* add current node to list of visited nodes *)
val chr = Char.chr currentPlatID
val visited = Vector.concat [Vector.fromList [chr], visited]
val currentPlat = Platform.find (currentPlatID, platforms)
val {x, y, width, ...} = currentPlat
val searchY = y - Constants.jumpLimit - 1
val searchH = Constants.jumpLimit
val searchY = y - Constants.jumpLimit
val searchH = Constants.jumpLimit + 1
(* todo: x/width are placeholder values.
* They should define values that let reachable platforms
@@ -166,6 +181,7 @@ struct
, currentPlat
, ~1
, []
, visited
)
in
if bestDist = ~1 then
@@ -185,67 +201,85 @@ struct
, prevPlat
, bestDist
, bestPath
, visited
) =
case lst of
id :: tl =>
let
val currentPlat = Platform.find (id, platforms)
val {y = cy, ...} = currentPlat
val {y = py, ...} = prevPlat
if hasVisted (id, visited) then
helpGetUpwardsPath
( playerPlatID
, platforms
, platformTree
, tl
, dist
, prevPlat
, bestDist
, bestPath
, visited
)
else
let
val currentPlat = Platform.find (id, platforms)
val {y = cy, ...} = currentPlat
val {y = py, ...} = prevPlat
val diff = py - cy
val platDist = dist + diff
val diff = py - cy
val platDist = dist + diff
val (newDist, newPath) = getUpwardsPath
(playerPlatID, id, platforms, platformTree, platDist)
in
if newDist = ~1 then
(* newPath is invalid, so reuse old path *)
helpGetUpwardsPath
( playerPlatID
, platforms
, platformTree
, tl
, dist
, prevPlat
, bestDist
, bestPath
)
else if bestDist = ~1 then
(* bestPath is invalid *)
helpGetUpwardsPath
( playerPlatID
, platforms
, platformTree
, tl
, dist
, prevPlat
, newDist
, newPath
)
else if newDist < bestDist then
helpGetUpwardsPath
( playerPlatID
, platforms
, platformTree
, tl
, dist
, prevPlat
, newDist
, newPath
)
else
helpGetUpwardsPath
( playerPlatID
, platforms
, platformTree
, tl
, dist
, prevPlat
, bestDist
, bestPath
)
end
val (newDist, newPath) = getUpwardsPath
(playerPlatID, id, platforms, platformTree, platDist, visited)
in
if newDist = ~1 then
(* newPath is invalid, so reuse old path *)
helpGetUpwardsPath
( playerPlatID
, platforms
, platformTree
, tl
, dist
, prevPlat
, bestDist
, bestPath
, visited
)
else if bestDist = ~1 then
(* bestPath is invalid *)
helpGetUpwardsPath
( playerPlatID
, platforms
, platformTree
, tl
, dist
, prevPlat
, newDist
, newPath
, visited
)
else if newDist < bestDist then
helpGetUpwardsPath
( playerPlatID
, platforms
, platformTree
, tl
, dist
, prevPlat
, newDist
, newPath
, visited
)
else
helpGetUpwardsPath
( playerPlatID
, platforms
, platformTree
, tl
, dist
, prevPlat
, bestDist
, bestPath
, visited
)
end
| [] => (bestDist, bestPath)
(* pathfinding *)
@@ -309,7 +343,7 @@ struct
val (bestDist, bestPath) =
if eID > ~1 andalso pID > ~1 then
getUpwardsPath (pID, eID, platforms, platformTree, 0)
getUpwardsPath (pID, eID, platforms, platformTree, 0, "")
else
(~1, [])