Fix collisionMap (all SimulationMaps) #160
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henneboy
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This breaks everything because everything in this shit codebase depends on everything else to be broken. AStar breaks when doing this, the mineatour algorithm breaks as well :) |
Before it did some strange things with SquareGrid that was really broken as the map did not align to CoarseMap tiles which made many places impossible for the robot to navigate to. Now it has been fixed by bypassing the squaregrid stuff and just using the Tile[,] map to create the collision map. Fixes a bug in cave map where the PatrollingMap threw an exception due to Astar being unable to path to the waypoint. Also when the robot collides with something it switches from using the precomupted astar paths to the robotcontroller path and move to functionality to hopefully navigate around the obstacle. We now calculate paths both ways from a waypoint to its neighbor and back. This sometime creates two different paths (of the same length) which helps with robots colliding with each other. Co-Authored-By: Casper-NS <[email protected]>
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The current implementation is broken and paths through walls when they are 1 tile thick, which happens in our non-broken collisionmap. Also fix issues with the PatrollingAlgorithm going off in a strange direction.
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Puvikaran2001
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Nov 29, 2024
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Before it did some strange things with SquareGrid that was really broken as the map did not align to CoarseMap tiles which made many places impossible for the robot to navigate to.
Now it has been fixed by bypassing the squaregrid stuff and just using the Tile[,] map to create the collision map.
Fixes a bug in cave map where the PatrollingMap threw an exception due to Astar being unable to path to the waypoint.
Also when the robot collides with something it switches from using the precomupted astar paths to the robotcontroller path and move to functionality to hopefully navigate around the obstacle.
We now calculate paths both ways from a waypoint to its neighbor and back.
This sometime creates two different paths (of the same length) which helps with robots colliding with each other.