Revision: 6457
http://playerstage.svn.sourceforge.net/playerstage/?rev=6457&view=rev
Author: gerkey
Date: 2008-05-28 11:46:20 -0700 (Wed, 28 May 2008)
Log Message:
-----------
added special case for planning from one cell to same cell
Modified Paths:
--------------
code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
Modified: code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
2008-05-23 18:59:01 UTC (rev 6456)
+++ code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
2008-05-28 18:46:20 UTC (rev 6457)
@@ -162,7 +162,7 @@
// Initialize the start cell
li = PLAN_GXWX(plan, lx);
lj = PLAN_GYWY(plan, ly);
-
+
//printf("planning from %d,%d to %d,%d\n", li,lj,gi,gj);
if(!PLAN_VALID_BOUNDS(plan, gi, gj))
@@ -186,6 +186,11 @@
cell = plan->cells + PLAN_INDEX(plan, gi, gj);
cell->plan_cost = 0;
+
+ // Are we done?
+ if((li == gi) && (lj == gj))
+ return(0);
+
plan_push(plan, cell);
while (1)
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