Still requires tuning
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@ -1,5 +1,6 @@
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using OSMDatastructure;
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using OSMDatastructure.Graph;
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using static OSMDatastructure.Tag;
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using WayType = OSMDatastructure.Tag.WayType;
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namespace Pathfinding;
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@ -7,7 +8,7 @@ namespace Pathfinding;
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public static partial class Pathfinder
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{
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private static ValueTuple<OsmNode?, OsmNode?> SetupNodes(Coordinates startCoordinates, Coordinates goalCoordinates, RegionManager regionManager, Tag.SpeedType vehicle)
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private static ValueTuple<OsmNode?, OsmNode?> SetupNodes(Coordinates startCoordinates, Coordinates goalCoordinates, RegionManager regionManager, SpeedType vehicle)
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{
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ValueTuple<OsmNode?, OsmNode?> retTuple = new();
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retTuple.Item1 = regionManager.ClosestNodeToCoordinates(startCoordinates, vehicle);
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@ -20,7 +21,7 @@ public static partial class Pathfinder
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return retTuple;
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}
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private static double EdgeWeight(OsmNode node1, OsmEdge edge, Tag.SpeedType vehicle, RegionManager regionManager)
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private static double EdgeWeight(OsmNode node1, OsmEdge edge, SpeedType vehicle, RegionManager regionManager)
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{
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OsmNode? node2 = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
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if (node2 is null)
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@ -30,36 +31,68 @@ public static partial class Pathfinder
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return speed is 0 ? double.MaxValue : distance / speed;
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}
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//TODO when refs are imported use same road
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private static double GetPriority(OsmNode current, OsmEdge edge, Tag.SpeedType vehicle, RegionManager regionManager)
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private static double GetPriority(OsmNode currentNode, OsmNode? previousNode, OsmEdge currentEdge, SpeedType vehicle, RegionManager regionManager)
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{
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if (vehicle == Tag.SpeedType.any)
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if (vehicle == SpeedType.any)
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return 1;
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const double roadPriorityFactor = 1;
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const double roadSpeedFactor = 0.0001;
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Region r = regionManager.GetRegion(current.coordinates)!;
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double roadPriority = GetPriorityVehicleRoad(edge, vehicle, r) * roadPriorityFactor;
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double roadSpeed = regionManager.GetSpeedForEdge(current, edge.wayId, vehicle) * roadSpeedFactor;
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const double roadPriorityFactor = 3.5;
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const double roadSpeedFactor = 1.4;
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const double roadNameChangeFactor = 1.4;
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const double distanceDeltaFactor = 0.17;
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Region r = regionManager.GetRegion(currentNode.coordinates)!;
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if (vehicle == Tag.SpeedType.pedestrian)
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return current.directDistanceToGoal / roadPriority;
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double distanceDelta = 0;
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if(previousNode is not null)
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distanceDelta = (previousNode.directDistanceToGoal - currentNode.directDistanceToGoal) * distanceDeltaFactor;
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double roadPriority = GetPriorityVehicleRoad(currentEdge, vehicle, r) * roadPriorityFactor;
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double roadSpeed = regionManager.GetSpeedForEdge(currentNode, currentEdge.wayId, vehicle) * 0.1 * roadSpeedFactor;
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if (vehicle == SpeedType.pedestrian)
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return currentNode.directDistanceToGoal / (roadPriority + roadSpeed + distanceDelta);
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if (vehicle == Tag.SpeedType.car)
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return current.directDistanceToGoal / roadPriority;
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double wayChange = 0;
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if (previousNode is not null && previousNode.edges.Count > 0)
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{
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OsmEdge? pEdge = previousNode.edges.FirstOrDefault(e => e.neighborId.Equals(currentNode.nodeId));
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if (pEdge is not null)
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{
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TagManager? prevTags = regionManager.GetRegion(previousNode.coordinates)?.tagManager;
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if (prevTags is not null)
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{
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TagManager curTags = r.tagManager;
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bool sameName = false;
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string? curName = (string?)curTags.GetTag(currentEdge.wayId, TagType.name);
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if (curName is not null && (string?)prevTags.GetTag(pEdge.wayId, TagType.name) == curName)
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sameName = true;
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bool sameRef = false;
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string? curRef = (string?)curTags.GetTag(currentEdge.wayId, TagType.tagref);
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if (curRef is not null && (string?)prevTags.GetTag(pEdge.wayId, TagType.tagref) == curRef)
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sameRef = true;
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wayChange = (sameRef || sameName ? 1 : 0) * roadNameChangeFactor;
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}
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}
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}
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double div = (roadPriority + wayChange + roadSpeed + (distanceDelta > 0 ? distanceDelta : 0)) + 1;
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double prio = currentNode.directDistanceToGoal / div;
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Console.WriteLine($"{currentNode.directDistanceToGoal:000000.00}/{div:+00.00;-00.00;000.00}={prio:+00000.00;-00000.00;000000.00} Type{roadPriority:00.00} name{wayChange:00.00} speed{roadSpeed:00.00} distance{distanceDelta:+00.00;-00.00;0}");
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if (vehicle == SpeedType.car)
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return prio;
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return double.MaxValue;
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}
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private static double GetPriorityVehicleRoad(OsmEdge edge, Tag.SpeedType vehicle, Region region)
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private static double GetPriorityVehicleRoad(OsmEdge edge, SpeedType vehicle, Region region)
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{
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if (vehicle == Tag.SpeedType.any)
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if (vehicle == SpeedType.any)
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return 1;
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WayType? wayType = (WayType?)region.tagManager.GetTag(edge.wayId, Tag.TagType.highway);
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WayType? wayType = (WayType?)region.tagManager.GetTag(edge.wayId, TagType.highway);
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if(wayType is null)
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return double.MaxValue;
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if (vehicle == Tag.SpeedType.car)
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if (vehicle == SpeedType.car)
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{
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switch (wayType)
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{
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@ -70,24 +103,25 @@ public static partial class Pathfinder
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case WayType.trunk_link:
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case WayType.primary:
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case WayType.primary_link:
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return 7;
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return 8;
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case WayType.secondary:
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case WayType.secondary_link:
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case WayType.tertiary:
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case WayType.tertiary_link:
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return 4;
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return 5;
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case WayType.unclassified:
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case WayType.residential:
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case WayType.road:
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case WayType.living_street:
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return 3;
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case WayType.service:
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case WayType.track:
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return 2;
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return 0.01;
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default:
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return 1;
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}
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}
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if (vehicle == Tag.SpeedType.pedestrian)
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if (vehicle == SpeedType.pedestrian)
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{
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switch (wayType)
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{
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@ -115,7 +149,7 @@ public static partial class Pathfinder
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}
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}
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return 100;
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return 0.01;
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}
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@ -21,7 +21,6 @@ public static partial class Pathfinder
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while (toVisit.Count > 0)
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{
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OsmNode currentNode = toVisit.Dequeue();
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Console.WriteLine($"{toVisit.Count} {currentNode.directDistanceToGoal}");
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foreach (OsmEdge edge in currentNode.edges.Where(
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edge => regionManager.TestValidConnectionForType(currentNode, edge, vehicle)))
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@ -44,7 +43,7 @@ public static partial class Pathfinder
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{
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currentNode = neighbor;
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currentNode.currentPathLength = 0;
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while (currentNode != startAndEndNode.Item1 && currentNode.previousPathNode is not null)
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while (!currentNode.Equals(startAndEndNode.Item1) && currentNode.previousPathNode is not null)
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{
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currentNode.previousPathNode.currentPathLength = currentNode.currentPathLength +
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Utils.DistanceBetween(currentNode, currentNode.previousPathNode);
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@ -53,8 +52,8 @@ public static partial class Pathfinder
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return GetRouteFromCalc(goalNode, regionManager);
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}
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//if (!toVisit.UnorderedItems.Any(item => item.Element.Equals(neighbor)))
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toVisit.Enqueue(neighbor, GetPriority(currentNode, edge, vehicle, regionManager));
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toVisit.Enqueue(neighbor, GetPriority(currentNode, currentNode.previousPathNode, edge, vehicle, regionManager));
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}
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}
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}
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