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base: glax:8a063f07d846de2d8d3cd1a3c5aa396ecaa71f0f
Branches Tags
glax:master
glax:different-optimization-strategy
glax:Jump-from-Junction-to-Junction
glax:Let-ends-find-each-other
glax:KeepOtimizing
glax:ExploreBothSidesEqually
..
compare: glax:793dd68cfd5813181b06d6be16064c158ca84710
Branches Tags
glax:master
glax:different-optimization-strategy
glax:Jump-from-Junction-to-Junction
glax:Let-ends-find-each-other
glax:KeepOtimizing
glax:ExploreBothSidesEqually

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8a063f07d8 ... 793dd68cfd

1 changed files with 18 additions and 12 deletions
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astar/Astar.cs
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@ -8,9 +8,9 @@ namespace astar
{
public class Astar(ValueTuple<float, float, float, float>? priorityWeights = null, int? explorationMultiplier = null, float? nonPriorityRoadSpeedPenalty = null)
{
private readonly ValueTuple<float, float, float, float> DefaultPriorityWeights = priorityWeights ?? new(.6f, 1, 0, 0);
private readonly int _explorationMultiplier = explorationMultiplier ?? 1500;
private readonly float _nonPriorityRoadSpeedPenalty = nonPriorityRoadSpeedPenalty ?? 0.75f;
private readonly ValueTuple<float, float, float, float> DefaultPriorityWeights = priorityWeights ?? new(0.7f, 1.08f, 0, 0);
private readonly int _explorationMultiplier = explorationMultiplier ?? 150;
private readonly float _nonPriorityRoadSpeedPenalty = nonPriorityRoadSpeedPenalty ?? 0.9f;
public Route FindPath(float startLat, float startLon, float endLat, float endLon, float regionSize, bool car = true, PathMeasure pathing = PathMeasure.Distance, string? importFolderPath = null, ILogger? logger = null)
{
@ -43,18 +43,22 @@ namespace astar
ValueTuple<Node, Node>? meetingEnds = null;
while (toVisitStart.Count > 0 && toVisitEnd.Count > 0)
{
for (int i = 0; i < Math.Min(toVisitStart.Count * 0.5, 50) && meetingEnds is null; i++)
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)
{
ulong closestEndNodeId = toVisitEnd.UnorderedItems.MinBy(node => graph.Nodes[node.Element].DistanceTo(graph.Nodes[toVisitStart.Peek()])).Element;
Node closestEndNode = graph.Nodes[closestEndNodeId];
meetingEnds = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, closestEndNode, car, DefaultPriorityWeights, pathing, logger);
for(int i = 0; i < Math.Min(toVisitStart.Count * 0.5, 50) && meetingEnds is null; i++)
meetingEnds = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, closestEndNode, car, DefaultPriorityWeights, pathing, logger);
}
for (int i = 0; i < Math.Min(toVisitEnd.Count * 0.5, 50) && meetingEnds is null; i++)
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)
{
ulong closestStartNodeId = toVisitStart.UnorderedItems.MinBy(node => graph.Nodes[node.Element].DistanceTo(graph.Nodes[toVisitEnd.Peek()])).Element;
Node closestStartNode = graph.Nodes[closestStartNodeId];
meetingEnds = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, closestStartNode, car, DefaultPriorityWeights, pathing, logger);
for(int i = 0; i < Math.Min(toVisitEnd.Count * 0.5, 50) && meetingEnds is null; i++)
meetingEnds = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, closestStartNode, car, DefaultPriorityWeights, pathing, logger);
}
if (meetingEnds is not null)
@ -94,7 +98,8 @@ namespace astar
Node neighborNode = graph.Nodes[neighborId];
if (neighborNode.PreviousIsFromStart == !fromStart) //Check if we found the opposite End
if (neighborNode.PreviousIsFromStart is not null &&
neighborNode.PreviousIsFromStart != fromStart) //Check if we found the opposite End
return fromStart ? new(currentNode, neighborNode) : new(neighborNode, currentNode);
float metric = (currentNode.Metric ?? float.MaxValue) + (pathing is PathMeasure.Distance
@ -108,6 +113,7 @@ namespace astar
toVisit.Enqueue(neighborId,
priorityHelper.CalculatePriority(currentNode, neighborNode, goalNode, speed, ratingWeights));
}
logger?.LogTrace($"Neighbor {neighborId} {neighborNode}");
}
return null;