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gpn-maze-bot
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disable field limits

master
Thomas Lindner 2022-05-21 10:31:55 +02:00
parent 636596a2cf
commit 219f454e6c
1 changed files with 4 additions and 14 deletions
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18
src/main.cc
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@ -55,7 +55,6 @@ class Bot {
int x, y;
bool up, right, down, left;
std::map<std::pair<int, int>, unsigned> known_map;
int field_width, field_height;
asio::awaitable<void> Protocol();
asio::awaitable<void> Join();
@ -201,23 +200,19 @@ unsigned Bot::ShortestPath(int x, int y) {
if (visited.count(position)) {
continue;
}
if (!(known_map[position] & static_cast<unsigned>(Direction::LEFT)) &&
position.first > 0) {
if (!(known_map[position] & static_cast<unsigned>(Direction::LEFT))) {
auto pos = std::make_pair(position.first - 1, position.second);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}
if (!(known_map[position] & static_cast<unsigned>(Direction::RIGHT)) &&
position.first < field_width) {
if (!(known_map[position] & static_cast<unsigned>(Direction::RIGHT))) {
auto pos = std::make_pair(position.first + 1, position.second);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}
if (!(known_map[position] & static_cast<unsigned>(Direction::UP)) &&
position.second > 0) {
if (!(known_map[position] & static_cast<unsigned>(Direction::UP))) {
auto pos = std::make_pair(position.first, position.second - 1);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}
if (!(known_map[position] & static_cast<unsigned>(Direction::DOWN)) &&
position.second < field_height) {
if (!(known_map[position] & static_cast<unsigned>(Direction::DOWN))) {
auto pos = std::make_pair(position.first, position.second + 1);
queue.emplace(distance + 1 + AStarHeuristic(pos), pos);
}
@ -228,11 +223,6 @@ unsigned Bot::ShortestPath(int x, int y) {
}
asio::awaitable<void> Bot::ChooseMove() {
if (known_map.empty()) {
field_width = x;
field_height = y;
}
// update map
known_map[std::make_pair(x, y)] =
(up ? static_cast<unsigned>(Direction::UP) : 0) |