fix pathfinding for real

src/pathfind.js

@@ -7,10 +7,11 @@ export default class Pathfind {
   static precision = 0.001
   static multiplier = 1000 // (1 / this.precision)
 
-  static key(pos) {
-    return `${pos.x},${pos.y}`
+  static key2(a, b) {
+    return `${a},${b}`
   }
 
+  // TODO: Value exceeds safe integer limit: collisions cause waypointing anomalies
   static floatKey4(a, b, c, d) {
     return Math.floor(a * Pathfind.multiplier) +
       Math.floor(b * Pathfind.multiplier) * Pathfind.multiplier +
@@ -18,16 +19,11 @@ export default class Pathfind {
       Math.floor(d * Pathfind.multiplier) * Pathfind.multiplier ** 3
   }
 
-  static floatKey2(a, b) {
-    return Math.floor(a * Pathfind.multiplier) +
-      Math.floor(b * Pathfind.multiplier) * Pathfind.multiplier
-  }
-
   static uniqueWaypoints(waypoints) {
     const included = new Set()
     const uniqueWaypoints = []
     for (const waypoint of waypoints) {
-      const key = Pathfind.floatKey2(waypoint[0], waypoint[1])
+      const key = Pathfind.key2(waypoint[0], waypoint[1])
       if (!included.has(key)) {
         included.add(key)
         uniqueWaypoints.push(waypoint)
@@ -52,16 +48,16 @@ export default class Pathfind {
         return path
       }
 
-      const waypointKey = Pathfind.floatKey2(waypoint)
+      const waypointKey = Pathfind.key2(waypoint[0], waypoint[1])
       if (!visited.has(waypointKey) || visited.get(waypointKey) > cost) {
         visited.set(waypointKey, cost)
 
         for (let i = 0; i < graph.length; i += 5) {
-          if (Math.abs(waypoint[0] - graph[i]) < Pathfind.precision && Math.abs(waypoint[1] -  graph[i + 1]) < Pathfind.precision) {
-            continue
+          if (Math.abs(waypoint[0] - graph[i]) > Pathfind.precision || Math.abs(waypoint[1] -  graph[i + 1]) > Pathfind.precision) {
+            continue // waypoint and graph.from aren't the same (so graph.to isn't a neighbor)
           }
 
-          const nextKey = `${graph[i + 2]},${graph[i + 3]}`
+          const nextKey = Pathfind.key2(graph[i + 2], graph[i + 3])
           if (!visited.has(nextKey) || visited.get(nextKey) > cost + graph[i + 4]) {
             const next = new Float32Array(2)
             next[0] = graph[i + 2]