Incorrect Result from get_path_multiple_goals #5
Description
I modified multiple_goals.rs to use a 10x10 grid while keeping the same obstacle nodes. changed the goals to (2,2) and (9,9). However, it incorrectly outputs (9,9) as the optimal target.but shouldn't it correctly choose (2,2)?
use grid_pathfinding::PathingGrid;
use grid_util::grid::Grid;
use grid_util::point::Point;
// In this example a path is found to one of two goals on a 3x3 grid with shape
// ___
// |S G|
// | # |
// | G|
// ___
// where
// - \# marks an obstacle
// - S marks the start
// - G marks a goal
// The found path moves to the closest goal, which is the top one.
fn main() {
let mut pathing_grid: PathingGrid = PathingGrid::new(10, 10, false);
pathing_grid.set(1, 1, true);
pathing_grid.generate_components();
println!("{}", pathing_grid);
let start = Point::new(0, 0);
let goal_1 = Point::new(2, 2);
let goal_2 = Point::new(9, 9);
let goals = vec![&goal_1, &goal_2];
let (selected_goal, path) = pathing_grid.get_path_multiple_goals(start, goals).unwrap();
println!("Selected goal: {:?}\n", selected_goal);
println!("Path:");
for p in path {
println!("{:?}", p);
}
}Output
Grid:
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 1, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
Neighbours:
[5, 198, 71, 199, 199, 199, 199, 199, 199, 193]
[27, 255, 191, 255, 255, 255, 255, 255, 255, 241]
[23, 239, 223, 255, 255, 255, 255, 255, 255, 241]
[31, 255, 255, 255, 255, 255, 255, 255, 255, 241]
[31, 255, 255, 255, 255, 255, 255, 255, 255, 241]
[31, 255, 255, 255, 255, 255, 255, 255, 255, 241]
[31, 255, 255, 255, 255, 255, 255, 255, 255, 241]
[31, 255, 255, 255, 255, 255, 255, 255, 255, 241]
[31, 255, 255, 255, 255, 255, 255, 255, 255, 241]
[28, 124, 124, 124, 124, 124, 124, 124, 124, 112]
Selected goal: Point { x: 9, y: 9 }
Path:
Point { x: 0, y: 0 }
Point { x: 0, y: 1 }
Point { x: 1, y: 2 }
Point { x: 2, y: 3 }
Point { x: 3, y: 4 }
Point { x: 4, y: 5 }
Point { x: 5, y: 6 }
Point { x: 6, y: 7 }
Point { x: 7, y: 8 }
Point { x: 8, y: 9 }
Point { x: 9, y: 9 }