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Adjusted to new Region Format

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glax
2023-04-01 14:43:05 +02:00
parent 2826ff2502
commit 01deb02666
2 changed files with 71 additions and 49 deletions
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67
Pathfinding/Pathfinder.cs
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@ -6,20 +6,13 @@ namespace Pathfinding;
public class Pathfinder
{
/*
public static List<OsmNode> CustomAStar(string workingDir, Coordinates start, Coordinates goal, OsmWay.speedType vehicle)
public static List<OsmNode> CustomAStar(string workingDir, Coordinates start, Coordinates goal, Tag.SpeedType vehicle)
{
RegionManager regionManager = new RegionManager(workingDir);
Region startRegion, goalRegion;
try
{
startRegion = regionManager.GetRegion(start);
goalRegion = regionManager.GetRegion(goal);
}
catch (FileNotFoundException e)
{
throw new Exception(string.Format("No region at coordinates {0}", e.FileName), e);
}
Region? startRegion = regionManager.GetRegion(start);
Region? goalRegion = regionManager.GetRegion(goal);
if (startRegion is null || goalRegion is null)
return new List<OsmNode>();
OsmNode? startNode = ClosestNodeToCoordinates(start, startRegion);
OsmNode? goalNode = ClosestNodeToCoordinates(goal, goalRegion);
@ -36,25 +29,20 @@ public class Pathfinder
{
//Console.WriteLine("toVisit-length: {0}", toVisit.Count);
closestNodeToGoal = toVisit.First();
foreach (OsmNode node in toVisit)
foreach (OsmNode node in toVisit.Where(node => node.directDistanceToGoal.Equals(Double.MaxValue)))
{
if (node.directDistanceToGoal.Equals(double.MaxValue))
{
node.directDistanceToGoal = Utils.DistanceBetween(node, goalNode);
}
if (node.directDistanceToGoal < closestNodeToGoal.directDistanceToGoal)
{
closestNodeToGoal = node;
}
node.directDistanceToGoal = Utils.DistanceBetween(node, goalNode);
}
foreach (OsmWay edge in closestNodeToGoal.edges)
closestNodeToGoal = toVisit.OrderBy(node => node.directDistanceToGoal).First();
foreach (OsmEdge edge in closestNodeToGoal.edges)
{
OsmNode? neighbor = regionManager.GetNode(edge.neighborCoordinates);
if (neighbor != null)
OsmNode? neighbor = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
if (neighbor is not null)
{
double newPotentialWeight =
closestNodeToGoal.currentPathWeight + edge.GetWeight(closestNodeToGoal, vehicle);
closestNodeToGoal.currentPathWeight + EdgeWeight(closestNodeToGoal, neighbor, edge.wayId, vehicle, ref regionManager);
if (neighbor.currentPathWeight > newPotentialWeight)
{
neighbor.previousPathNode = closestNodeToGoal;
@ -100,5 +88,32 @@ public class Pathfinder
}
return closest;
}*/
}
private static double EdgeWeight(OsmNode node1, OsmNode node2, ulong wayId, Tag.SpeedType vehicle, ref RegionManager regionManager)
{
TagManager tags = regionManager.GetRegion(node1.coordinates)!.tagManager;
double distance = Utils.DistanceBetween(node1, node2);
Tag.WayType wayType = (Tag.WayType)tags.GetTag(wayId, Tag.TagType.highway)!;
switch (vehicle)
{
case Tag.SpeedType.pedestrian:
byte speed = Tag.defaultSpeedPedestrian[wayType];
if(speed is not 0)
return distance / speed;
else return Double.PositiveInfinity;
case Tag.SpeedType.car:
case Tag.SpeedType.road:
byte? maxspeed = (byte?)tags.GetTag(wayId, Tag.TagType.maxspeed);
if (maxspeed is not null)
return distance / Convert.ToDouble(maxspeed);
else
maxspeed = Tag.defaultSpeedCar[wayType];
if(maxspeed is not 0)
return distance / Tag.defaultSpeedCar[wayType];
else return Double.PositiveInfinity;;
default:
return double.PositiveInfinity;
}
}
}