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Changed ClosestNodeToCoordinates to include only nodes that have connections for appropriate SpeedType (e.g. roads for cars, footways for pedestrians)

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Changed toVisit to be a priorityqueue.

Search is aborted, if within 250m of goal.
This commit is contained in:
glax 2023-04-01 18:10:21 +02:00
parent 0f0f4182ac
commit 4600105b0b
1 changed files with 38 additions and 22 deletions
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60
Pathfinding/Pathfinder.cs
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@ -14,27 +14,23 @@ public class Pathfinder
if (startRegion is null || goalRegion is null)
return new List<OsmNode>();
OsmNode? startNode = ClosestNodeToCoordinates(start, startRegion);
OsmNode? goalNode = ClosestNodeToCoordinates(goal, goalRegion);
OsmNode? startNode = ClosestNodeToCoordinates(start, startRegion, vehicle);
OsmNode? goalNode = ClosestNodeToCoordinates(goal, goalRegion, vehicle);
if (startNode == null || goalNode == null)
return new List<OsmNode>();
List<OsmNode> toVisit = new() { startNode };
OsmNode closestNodeToGoal = toVisit.First();
closestNodeToGoal.currentPathWeight = 0;
closestNodeToGoal.currentPathLength = 0;
PriorityQueue<OsmNode, double> toVisit = new();
toVisit.Enqueue(startNode, 0);
startNode.currentPathWeight = 0;
startNode.currentPathLength = 0;
startNode.directDistanceToGoal = Utils.DistanceBetween(startNode, goalNode);
OsmNode closestNodeToGoal = startNode;
bool stop = false;
while (toVisit.Count > 0 && !stop)
{
//Console.WriteLine("toVisit-length: {0}", toVisit.Count);
closestNodeToGoal = toVisit.First();
foreach (OsmNode node in toVisit.Where(node => node.directDistanceToGoal.Equals(Double.MaxValue)))
{
node.directDistanceToGoal = Utils.DistanceBetween(node, goalNode);
}
closestNodeToGoal = toVisit.OrderBy(node => node.directDistanceToGoal).First();
closestNodeToGoal = toVisit.Dequeue();
Console.WriteLine($"{toVisit.Count:000} {closestNodeToGoal.directDistanceToGoal:#.00} current:{closestNodeToGoal}");
foreach (OsmEdge edge in closestNodeToGoal.edges)
{
@ -49,19 +45,20 @@ public class Pathfinder
neighbor.currentPathWeight = newPotentialWeight;
neighbor.currentPathLength = closestNodeToGoal.currentPathLength + Utils.DistanceBetween(closestNodeToGoal, neighbor);
if (neighbor.Equals(goalNode))
if (neighbor.Equals(goalNode) || closestNodeToGoal.directDistanceToGoal < 250)
stop = true;
else
toVisit.Add(neighbor);
{
neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
toVisit.Enqueue(neighbor, neighbor.directDistanceToGoal);
}
}
}
}
toVisit.Remove(closestNodeToGoal);
}
List<OsmNode> path = new();
OsmNode? currentNode = goalNode;
OsmNode? currentNode = closestNodeToGoal;
while (currentNode != null && !currentNode.Equals(startNode))
{
path.Add(currentNode);
@ -73,14 +70,33 @@ public class Pathfinder
return path;
}
private static OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, Region region)
private static OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, Region region, Tag.SpeedType vehicle)
{
OsmNode? closest = null;
double distance = double.MaxValue;
foreach (OsmNode node in region.nodes)
{
bool hasConnection = false;
foreach (OsmEdge edge in node.edges)
{
byte speed = 0;
switch (vehicle)
{
case Tag.SpeedType.road:
case Tag.SpeedType.car:
speed = Tag.defaultSpeedCar[(Tag.WayType)region.tagManager.GetTag(edge.wayId, Tag.TagType.highway)!];
break;
case Tag.SpeedType.pedestrian:
speed = Tag.defaultSpeedPedestrian[
(Tag.WayType)region.tagManager.GetTag(edge.wayId, Tag.TagType.highway)!];
break;
}
if (speed != 0)
hasConnection = true;
}
double nodeDistance = Utils.DistanceBetween(node, coordinates);
if (nodeDistance < distance)
if (nodeDistance < distance && hasConnection)
{
closest = node;
distance = nodeDistance;