markmental/yapb-noob-edition
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refactor: use squared distance if possible

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refactor: add some const-correctness to code
This commit is contained in:
jeefo 2023-06-24 02:36:51 +03:00
commit 4a35a87b25
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24 changed files with 579 additions and 567 deletions
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src/planner.cpp
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@ -197,10 +197,10 @@ bool AStarAlgo::cantSkipNode (const int a, const int b) {
if (tooNarrow) {
return true;
}
const float distance = ag.origin.distanceSq (bg.origin);
const float distanceSq = ag.origin.distanceSq (bg.origin);
const bool tooFar = distance > cr::sqrf (400.0f);
const bool tooClose = distance < cr::sqrtf (40.0f);
const bool tooFar = distanceSq > cr::sqrf (400.0f);
const bool tooClose = distanceSq < cr::sqrtf (40.0f);
if (tooFar || tooClose) {
return true;
@ -416,7 +416,7 @@ bool FloydWarshallAlgo::find (int srcIndex, int destIndex, NodeAdderFn onAddedNo
void DijkstraAlgo::init (const int length) {
m_length = length;
auto ulength = static_cast <size_t> (length);
const auto ulength = static_cast <size_t> (length);
m_distance.resize (ulength);
m_parent.resize (ulength);