feat: added penalty factor setting for JPS

Author: Peter Vaiko

config/VehicleSettingsSetup.xml

@@ -33,6 +33,7 @@
 		<Setting classType="AIParameterBooleanSetting" name="turnOnField" defaultBool="true" isVisible="areCourseSettingsVisible"/>
 		<!--Avoid Fruit-->
 		<Setting classType="AIParameterBooleanSetting" name="avoidFruit" defaultBool="true" isExpertModeOnly="true"/>
+		<Setting classType="AIParameterSettingList" name="penaltyFactor" min="1" max="10" incremental="0.1" default="1" />
 		<!--Pathfinder Reverse-->
 		<Setting classType="AIParameterBooleanSetting" name="allowReversePathfinding" defaultBool="true" isExpertModeOnly="true" isVisible="areCourseSettingsVisible"/>
 		<Setting classType="AIParameterBooleanSetting" name="allowPathfinderTurns" defaultBool="false" isExpertModeOnly="true" isVisible="areCourseSettingsVisible"/>

modDesc.xml

@@ -164,6 +164,7 @@ Changelog 8.0.0.0:
 		<sourceFile filename="scripts/pathfinder/HybridAStar.lua"/>
 		<sourceFile filename="scripts/pathfinder/AStar.lua"/>
 		<sourceFile filename="scripts/pathfinder/HybridAStarWithAStarInTheMiddle.lua"/>
+		<sourceFile filename="scripts/pathfinder/JumpPointSearch.lua"/>
 		<sourceFile filename="scripts/pathfinder/PathfinderCollisionDetector.lua"/>
 		<sourceFile filename="scripts/pathfinder/PathfinderConstraints.lua"/>
 		<sourceFile filename="scripts/pathfinder/PathfinderContext.lua"/>

scripts/pathfinder/JumpPointSearch.lua

@@ -135,7 +135,7 @@ function JumpPointSearch:getNextPrimitives(node, primitive)
     for _, n in ipairs(primitive.nextPrimitives) do
         if n.check then
             -- check if the neighbor is valid
-            local neighborToCheck = State3D(node.x, node.y, n.check:heading()) + n.check
+            local neighborToCheck = State3D(node.x + n.check.x, node.y + n.check.y, n.check:heading())
             if not self:isValidNode(neighborToCheck) or self:isPenaltyChanging(neighborToCheck, node) then
                 -- we have a forced neighbor
                 table.insert(nextPrimitives, n.nextPrimitive)

scripts/pathfinder/PathfinderConstraints.lua

@@ -73,12 +73,13 @@ function PathfinderConstraints:init(context)
     self.initialMaxFruitPercent = self.maxFruitPercent
     self.initialOffFieldPenalty = self.offFieldPenalty
     self.strictMode = false
+    self.penaltyFactor = self.vehicle:getCpSettings().penaltyFactor:getValue()
     self:resetCounts()
     local areaToAvoidText = self.areaToAvoid and
             string.format('are to avoid %.1f x %.1f m', self.areaToAvoid.length, self.areaToAvoid.width) or 'none'
-    self.logger:debug(self.vehicle, 'off field penalty %.1f, max fruit percent: %.1f, field number %d, %s, ignore fruit %s, ignore off-field penalty %s',
+    self.logger:debug(self.vehicle, 'off field penalty %.1f, max fruit percent: %.1f, field number %d, %s, ignore fruit %s, ignore off-field penalty %s, penalty factor %.1f',
             self.offFieldPenalty, self.maxFruitPercent, self.fieldNum, areaToAvoidText,
-            self.areaToIgnoreFruit or 'none', self.areaToIgnoreOffFieldPenalty or 'none')
+            self.areaToIgnoreFruit or 'none', self.areaToIgnoreOffFieldPenalty or 'none', self.penaltyFactor)
 end
 
 function PathfinderConstraints:resetCounts()
@@ -131,7 +132,7 @@ function PathfinderConstraints:getNodePenalty(node)
     end
     penalty = penalty + self:calculatePreferredPathPenalty(node)
     self.totalNodeCount = self.totalNodeCount + 1
-    return penalty
+    return penalty * self.penaltyFactor
 end
 
 --- Calculate penalty for this node based on the preferred path. The penalty will be negative to

scripts/pathfinder/PathfinderUtil.lua

@@ -428,7 +428,7 @@ end
 ---@param maxIterations number maximum number of iterations
 function PathfinderUtil.startPathfinding(vehicle, start, goal, constraints, allowReverse, mustBeAccurate, maxIterations)
     PathfinderUtil.overlapBoxes = {}
-    local pathfinder = HybridAStarWithAStarInTheMiddle(vehicle, 100, maxIterations, mustBeAccurate)
+    local pathfinder = HybridAStarWithJpsInTheMiddle(vehicle, 100, maxIterations, mustBeAccurate)
     return pathfinder, pathfinder:start(start, goal, constraints.turnRadius, allowReverse,
             constraints, constraints.trailerHitchLength)
 end