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Allow HAPFS to extend patsh around complex obstacles
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@lostsquirrel1 @lhog
lostsquirrel1 authored and lhog committed Jan 24, 2025
1 parent 817bbd9 commit e061da5
Showing 1 changed file with 2 additions and 2 deletions.
4 changes: 2 additions & 2 deletions rts/Sim/Path/HAPFS/PathConstants.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ static constexpr unsigned int MAX_SEARCHED_NODES_PE = MAX_SEARCHED_NODES;

// PathManager distance thresholds (to use PF or PE)
static constexpr float MAXRES_SEARCH_DISTANCE = 50.0f;
static constexpr float MEDRES_SEARCH_DISTANCE = 100.0f;
static constexpr float MEDRES_SEARCH_DISTANCE = 200.0f;
// path-refinement lookahead distances (MED to MAX and LOW to MED)
static const float MAXRES_SEARCH_DISTANCE_EXT = (MAXRES_SEARCH_DISTANCE * 0.4f) * SQUARE_SIZE;
static const float MEDRES_SEARCH_DISTANCE_EXT = (MEDRES_SEARCH_DISTANCE * 0.4f) * SQUARE_SIZE;
Expand All @@ -33,7 +33,7 @@ static constexpr unsigned int MEDRES_PE_BLOCKSIZE = 16;
static constexpr unsigned int LOWRES_PE_BLOCKSIZE = 32;

static constexpr unsigned int SQUARES_TO_UPDATE = 8000;
static constexpr unsigned int MAX_SEARCHED_NODES_ON_REFINE = 2000;
static constexpr unsigned int MAX_SEARCHED_NODES_ON_REFINE = 8000;

static constexpr unsigned int PATH_HEATMAP_XSCALE = 1; // wrt. mapDims.hmapx
static constexpr unsigned int PATH_HEATMAP_ZSCALE = 1; // wrt. mapDims.hmapy
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