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Ends try to find closest node to one another.

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glax 2024-07-25 01:54:53 +02:00
parent ffa2e5abe9
commit 55c753adb8
1 changed files with 10 additions and 4 deletions
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14
astar/Astar.cs
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@ -44,21 +44,27 @@ namespace astar
ValueTuple<Node, Node>? meetingEnds = null; ValueTuple<Node, Node>? meetingEnds = null;
while (toVisitStart.Count > 0 && toVisitEnd.Count > 0) while (toVisitStart.Count > 0 && toVisitEnd.Count > 0)
{ {
ulong closestEndNodeId = toVisitEnd.UnorderedItems
.MinBy(n => graph.Nodes[n.Element].DistanceTo(startNode.Value)).Element;
Node closestEndNode = graph.Nodes[closestEndNodeId];
if (toVisitStart.Count >= toVisitEnd.Count && meetingEnds is null) if (toVisitStart.Count >= toVisitEnd.Count && meetingEnds is null)
{ {
for(int i = 0; i < toVisitStart.Count / 10 && meetingEnds is null; i++) for(int i = 0; i < toVisitStart.Count / 10 && meetingEnds is null; i++)
meetingEnds = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, endNode.Value, car, DefaultPriorityWeights, pathing, logger); meetingEnds = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, closestEndNode, car, DefaultPriorityWeights, pathing, logger);
} }
if(meetingEnds is null) if(meetingEnds is null)
meetingEnds = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, endNode.Value, car, DefaultPriorityWeights, pathing, logger); meetingEnds = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, closestEndNode, car, DefaultPriorityWeights, pathing, logger);
ulong closestStartNodeId = toVisitStart.UnorderedItems
.MinBy(n => graph.Nodes[n.Element].DistanceTo(endNode.Value)).Element;
Node closestStartNode = graph.Nodes[closestStartNodeId];
if (toVisitEnd.Count >= toVisitStart.Count && meetingEnds is null) if (toVisitEnd.Count >= toVisitStart.Count && meetingEnds is null)
{ {
for(int i = 0; i < toVisitEnd.Count / 10 && meetingEnds is null; i++) for(int i = 0; i < toVisitEnd.Count / 10 && meetingEnds is null; i++)
meetingEnds = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, startNode.Value, car, DefaultPriorityWeights, pathing, logger); meetingEnds = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, closestStartNode, car, DefaultPriorityWeights, pathing, logger);
} }
if(meetingEnds is null) if(meetingEnds is null)
meetingEnds = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, startNode.Value, car, DefaultPriorityWeights, pathing, logger); meetingEnds = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, closestStartNode, car, DefaultPriorityWeights, pathing, logger);
if (meetingEnds is not null) if (meetingEnds is not null)
break; break;