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glax 2024-07-23 17:07:31 +02:00
parent 0758ae1d86
commit 692fb93a94
3 changed files with 21 additions and 12 deletions
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21
astar/Astar.cs
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@ -64,7 +64,7 @@ namespace astar
Node neighborNode = graph.Nodes[neighborId];
if (neighborNode.PreviousIsFromStart is false)//Check if we found the opposite End
return PathFound(graph, currentNodeStart, neighborNode, logger);
return PathFound(graph, currentNodeStart, neighborNode, car, logger);
float distance = (currentNodeStart.Distance??float.MaxValue) + (float)currentNodeStart.DistanceTo(neighborNode);
if (neighborNode.PreviousNodeId is null || neighborNode.Distance > distance)
@ -102,7 +102,7 @@ namespace astar
Node neighborNode = graph.Nodes[neighborId];
if (neighborNode.PreviousIsFromStart is true)//Check if we found the opposite End
return PathFound(graph, neighborNode, currentNodeEnd, logger);
return PathFound(graph, neighborNode, currentNodeEnd, car, logger);
float distance = (currentNodeEnd.Distance??float.MaxValue) + (float)currentNodeEnd.DistanceTo(neighborNode);
if (neighborNode.PreviousNodeId is null || neighborNode.Distance > distance)
@ -120,25 +120,30 @@ namespace astar
return new Route(graph, Array.Empty<Step>().ToList(), false);
}
private static Route PathFound(Graph graph, Node fromStart, Node fromEnd, ILogger? logger = null)
private static Route PathFound(Graph graph, Node fromStart, Node fromEnd, bool car = true, ILogger? logger = null)
{
logger?.LogInformation("Path found!");
List<Step> path = new();
path.Add(new Step((float)NodeUtils.DistanceBetween(fromStart, fromEnd), fromStart, fromEnd));
OSM_Graph.Way toNeighbor = graph.Ways[fromStart.Neighbors.First(n => graph.Nodes[n.Key] == fromEnd).Value.Key];
path.Add(new Step(fromStart, fromEnd, (float)fromStart.DistanceTo(fromEnd), SpeedHelper.GetSpeed(toNeighbor, car)));
Node current = fromStart;
while (current.Distance != 0f)
{
Step step = new((float)NodeUtils.DistanceBetween(graph.Nodes[(ulong)current.PreviousNodeId!], current), graph.Nodes[(ulong)current.PreviousNodeId!], current);
Node previous = graph.Nodes[(ulong)current.PreviousNodeId!];
OSM_Graph.Way previousToCurrent = graph.Ways[previous.Neighbors.First(n => graph.Nodes[n.Key] == current).Value.Key];
Step step = new(previous, current, (float)previous.DistanceTo(current), SpeedHelper.GetSpeed(previousToCurrent, car));
path.Add(step);
current = graph.Nodes[(ulong)current.PreviousNodeId!];
current = previous;
}
path.Reverse();//Since we go from the middle backwards until here
current = fromEnd;
while (current.Distance != 0f)
{
Step step = new((float)NodeUtils.DistanceBetween(graph.Nodes[(ulong)current.PreviousNodeId!], current), current, graph.Nodes[(ulong)current.PreviousNodeId!]);
Node next = graph.Nodes[(ulong)current.PreviousNodeId!];
OSM_Graph.Way currentToNext = graph.Ways[current.Neighbors.First(n => graph.Nodes[n.Key] == next).Value.Key];
Step step = new(current, next, (float)current.DistanceTo(next), SpeedHelper.GetSpeed(currentToNext, car));
path.Add(step);
current = graph.Nodes[(ulong)current.PreviousNodeId!];
current = next;
}
Route r = new (graph, path, true);

2
astar/PathingHelper/PriorityHelper.cs
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@ -20,6 +20,6 @@ public class PriorityHelper(double totalDistance, byte maxSpeed)
//double angleRating = Math.Abs((180 - angle) / 180) * 100;
double speedRating = speed * 1.0 / _maxSpeed * 100;
return 350 - (int)(distanceRating * 2 + speedRating * 1.5);
return 300 - (int)(distanceRating * 2 + speedRating * 1);
}
}

10
astar/Route.cs
View File

@ -7,6 +7,8 @@
public bool RouteFound { get; } = routeFound;
public float Distance => Steps.Sum(step => step.Distance);
public TimeSpan Time => TimeSpan.FromHours(Steps.Sum(step => step.Distance / 1000 / step.Speed));
public ValueTuple<float, float> MinCoordinates()
{
float minLat = Graph.Nodes.MinBy(node => node.Value.Lat).Value.Lat;
@ -24,18 +26,20 @@
public override string ToString()
{
return $"{string.Join("\n", Steps)}\n" +
$"Distance: {Distance:000000.00}m";
$"Distance: {Distance:000000.00}m\n" +
$"Time: {Time:hh\\:m\\:ss}";
}
}
public struct Step(float distance, Node node1, Node node2)
public struct Step(Node node1, Node node2, float distance, byte speed)
{
public readonly Node Node1 = node1, Node2 = node2;
public readonly float Distance = distance;
public readonly byte Speed = speed;
public override string ToString()
{
return $"{Node1.Lat:00.000000} {Node1.Lon:000.000000} --- {Distance:0000.00}m ---> {Node2.Lat:00.000000} {Node2.Lon:000.000000}";
return $"{Node1.Lat:00.000000} {Node1.Lon:000.000000} --- {Distance:0000.00}m {Speed:000} ---> {Node2.Lat:00.000000} {Node2.Lon:000.000000}";
}
}
}