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glax 2024-07-29 04:23:42 +02:00
parent 032cce4552
commit 36c326b71b
1 changed files with 29 additions and 31 deletions
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60
astar/Astar.cs
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@ -67,7 +67,6 @@ namespace astar
if(meetingEnds is null)
return new Route(graph, Array.Empty<Step>().ToList(), false);
//List<Node> routeNodes = PathFound(graph, meetingEnds.Value.Item1, meetingEnds.Value.Item2, car).Steps.Select(s => s.Node1).ToList();
Queue<ulong> routeQueue = new();
foreach (ulong id in toVisitStart.UnorderedItems.Select(l => l.Element)
.Union(toVisitEnd.UnorderedItems.Select(l => l.Element)))
@ -87,14 +86,7 @@ namespace astar
logger?.LogDebug($"Distance to goal {currentNode.DistanceTo(goalNode):00000.00}m");
foreach ((ulong neighborId, KeyValuePair<ulong, bool> wayId) in currentNode.Neighbors)
{
if (!graph.ContainsNode(neighborId))
graph.ConcatGraph(Graph.FromGraph(rl.LoadRegionFromNodeId(neighborId)));
if (!graph.ContainsWay(wayId.Key))
{
logger?.LogDebug("Loading way... This will be slow.");
foreach (global::Graph.Graph? g in rl.LoadRegionsFromWayId(wayId.Key))
graph.ConcatGraph(Graph.FromGraph(g));
}
LoadNeighbor(graph, neighborId, wayId.Key, rl, logger);
OSM_Graph.Way way = graph.Ways[wayId.Key];
byte speed = SpeedHelper.GetSpeed(way, car);
@ -126,19 +118,6 @@ namespace astar
return null;
}
private static bool IsNeighborReachable(byte speed, bool wayDirection, bool fromStart, OSM_Graph.Way way, bool car)
{
if(speed < 1)
return false;
if(!way.AccessPermitted())
return false;
if(wayDirection && way.GetDirection() == (fromStart ? WayDirection.Backwards : WayDirection.Forwards) && car)
return false;
if(!wayDirection && way.GetDirection() == (fromStart ? WayDirection.Forwards : WayDirection.Backwards) && car)
return false;
return true;
}
private ValueTuple<Node, Node>? Optimize(Graph graph, Queue<ulong> combinedQueue, bool car, RegionLoader rl, PathMeasure pathing, ILogger? logger = null)
{
int currentPathLength = graph.Nodes.Values.Count(node => node.PreviousNodeId is not null);
@ -152,15 +131,8 @@ namespace astar
bool fromStart = (bool)currentNode.PreviousIsFromStart!;
foreach ((ulong neighborId, KeyValuePair<ulong, bool> wayId) in currentNode.Neighbors)
{
if (!graph.ContainsNode(neighborId))
graph.ConcatGraph(Graph.FromGraph(rl.LoadRegionFromNodeId(neighborId)));
if (!graph.ContainsWay(wayId.Key))
{
logger?.LogDebug("Loading way... This will be slow.");
foreach (global::Graph.Graph? g in rl.LoadRegionsFromWayId(wayId.Key))
graph.ConcatGraph(Graph.FromGraph(g));
}
LoadNeighbor(graph, neighborId, wayId.Key, rl, logger);
OSM_Graph.Way way = graph.Ways[wayId.Key];
byte speed = SpeedHelper.GetSpeed(way, car);
if(!IsNeighborReachable(speed, wayId.Value, fromStart, way, car))
@ -228,6 +200,32 @@ namespace astar
return r;
}
private static bool IsNeighborReachable(byte speed, bool wayDirection, bool fromStart, OSM_Graph.Way way, bool car)
{
if(speed < 1)
return false;
if(!way.AccessPermitted())
return false;
if(wayDirection && way.GetDirection() == (fromStart ? WayDirection.Backwards : WayDirection.Forwards) && car)
return false;
if(!wayDirection && way.GetDirection() == (fromStart ? WayDirection.Forwards : WayDirection.Backwards) && car)
return false;
return true;
}
private static void LoadNeighbor(Graph graph, ulong neighborId, ulong wayId, RegionLoader rl, ILogger? logger = null)
{
if (!graph.ContainsNode(neighborId))
graph.ConcatGraph(Graph.FromGraph(rl.LoadRegionFromNodeId(neighborId)));
if (!graph.ContainsWay(wayId))
{
logger?.LogDebug("Loading way... This will be slow.");
foreach (global::Graph.Graph? g in rl.LoadRegionsFromWayId(wayId))
graph.ConcatGraph(Graph.FromGraph(g));
}
}
private static Graph Spiral(RegionLoader loader, float lat, float lon, float regionSize)
{
Graph? ret = Graph.FromGraph(loader.LoadRegionFromCoordinates(lat, lon));