Tune pathfinding and movements

bot/path/movement.go

@@ -199,20 +199,20 @@ func (m Movement) BaseCost() float64 {
 	case Waypoint:
 		return 0
 	case TraverseNorth, TraverseSouth, TraverseEast, TraverseWest:
-		return 1
+		return 2
 	case TraverseNorthWest, TraverseNorthEast, TraverseSouthWest, TraverseSouthEast:
-		return 1.25
+		return 2.5
 
 	case DropNorth, DropSouth, DropEast, DropWest:
-		return 2
+		return 4
 	case AscendNorth, AscendSouth, AscendEast, AscendWest:
-		return 2.25
+		return 4
 	case DescendLadderNorth, DescendLadderSouth, DescendLadderEast, DescendLadderWest:
 		return 1.5
 	case DescendLadder:
-		return 1.2
+		return 1
 	case AscendLadder:
-		return 1.5
+		return 3
 	default:
 		panic(m)
 	}

bot/path/path.go

@@ -19,7 +19,7 @@ type V3 struct {
 
 func (v V3) Cost(other V3) float64 {
 	x, y, z := v.X-other.X, v.Y-other.Y, v.Z-other.Z
-	return float64(x*x+z*z) + 1.2*float64(y*y)
+	return math.Sqrt(float64(x*x+z*z)) + math.Sqrt(1.2*float64(y*y))
 }
 
 // Nav represents a navigation to a position.
@@ -119,8 +119,8 @@ func (t Tile) Inputs(pos, deltaPos, vel Point) Inputs {
 			pos.X -= (0.55 * float64(x))
 			pos.Z -= (0.55 * float64(z))
 		} else {
-			pos.X += (0.55 * float64(x))
+			pos.X += (0.42 * float64(x))
-			pos.Z += (0.55 * float64(z))
+			pos.Z += (0.42 * float64(z))
 		}
 
 		at = math.Atan2(-pos.X+float64(t.Pos.X)+0.5, -pos.Z+float64(t.Pos.Z)+0.5)