chore: adjust path finding

battle_core/src/config.rs

@@ -103,6 +103,9 @@ pub const CAN_CROUCH_AFTER: u64 = TARGET_FPS * 60 * 5;
 // How many frames after last proximity shoot needed before soldier go from crouch to standup when idle
 pub const CAN_STANDUP_AFTER: u64 = TARGET_FPS * 60 * 10;
 
+// Adjust distance (computed by pixels) according to tile cost
+pub const PATH_FINDING_HEURISTIC_COEFFICIENT: f32 = 10.;
+
 #[derive(Debug, Clone)]
 pub struct ServerConfig {
     pub send_debug_points: bool,
@@ -155,6 +158,7 @@ pub struct ServerConfig {
     pub explosive_regressive_death_rayon: HashMap<ExplosiveType, Distance>,
     pub explosive_regressive_injured_rayon: HashMap<ExplosiveType, Distance>,
     pub hide_maximum_rayon: Distance,
+    pub path_finding_heuristic_coefficient: f32,
 }
 
 impl Default for ServerConfig {
@@ -241,6 +245,7 @@ impl Default for ServerConfig {
             explosive_regressive_injured_rayon,
 
             hide_maximum_rayon: Distance::from_meters(HIDE_MAXIMUM_RAYON),
+            path_finding_heuristic_coefficient: PATH_FINDING_HEURISTIC_COEFFICIENT,
         }
     }
 }

battle_core/src/physics/path.rs

@@ -1,4 +1,4 @@
-use crate::{map::Map, types::*, utils::angleg};
+use crate::{config::ServerConfig, map::Map, types::*, utils::angleg};
 use pathfinding::prelude::astar;
 use serde::{Deserialize, Serialize};
 use strum_macros::EnumIter;
@@ -157,6 +157,7 @@ impl Direction {
 
 // TODO : When "to" is unreachable (ex. for vehicle) do not search a path (it consume all path before stop)
 pub fn find_path(
+    config: &ServerConfig,
     map: &Map,
     from: &GridPoint,
     to: &GridPoint,
@@ -172,7 +173,10 @@ pub fn find_path(
     match astar(
         &(*from, start_direction),
         |p| map.successors(p, path_mode),
-        |p| (p.0.x.abs_diff(to.x) + p.0.y.abs_diff(to.y)) as i32,
+        |p| {
+            (p.0.to_vec2().distance(to.to_vec2()) * config.path_finding_heuristic_coefficient)
+                as i32
+        },
         |p| p.0 == *to,
     ) {
         None => None,

battle_core/src/physics/utils.rs

@@ -1,4 +1,4 @@
-use crate::types::{Distance, WorldPoint};
+use crate::types::{Distance, GridPoint, WorldPoint};
 
 // Coefficient to convert distance from two scene points into meters
 // TODO : fix it with sprites, maps, etc

battle_core/src/types.rs

@@ -116,6 +116,10 @@ impl GridPoint {
     pub fn new(x: i32, y: i32) -> Self {
         Self { x, y }
     }
+
+    pub fn to_vec2(&self) -> Vec2 {
+        Vec2::new(self.x as f32, self.y as f32)
+    }
 }
 
 impl Display for GridPoint {