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Start of complete rethinking of Heuristic function and approach to get shortest path.

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glax 2023-04-23 13:11:52 +02:00
parent 18822e2152
commit bc39785f6f
1 changed files with 19 additions and 15 deletions
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34
Pathfinding/Pathfinder.cs
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@ -102,11 +102,24 @@ public class Pathfinder
private double Heuristic(OsmNode currentNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, double roadPriorityFactor, double junctionFactor, double sameRoadFactor, double nodeAngleFactor) private double Heuristic(OsmNode currentNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, double roadPriorityFactor, double junctionFactor, double sameRoadFactor, double nodeAngleFactor)
{ {
double roadPriority = regionManager.GetPriorityForVehicle(_speedType, edge, currentNode) * roadPriorityFactor; double priority = regionManager.GetPriorityForVehicle(_speedType, edge, currentNode);
if (roadPriority == 0) if (priority == 0)
return double.MaxValue; return double.MaxValue;
double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType) * 0.0003; double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType);
double angle = 0;
if (_cameFromDict!.ContainsKey(currentNode))
{
OsmNode previousNode = _cameFromDict[currentNode];
Vector v1 = new(currentNode, previousNode);
Vector v2 = new(currentNode, neighborNode);
double nodeAngle = v1.Angle(v2);
if (nodeAngle < 60)
angle = 0.001;
else
angle = (nodeAngle + 1) / (181);
}
TagManager curTags = regionManager.GetRegion(currentNode.coordinates)!.tagManager; TagManager curTags = regionManager.GetRegion(currentNode.coordinates)!.tagManager;
TagManager nextTags = regionManager.GetRegion(neighborNode.coordinates)!.tagManager; TagManager nextTags = regionManager.GetRegion(neighborNode.coordinates)!.tagManager;
@ -123,20 +136,11 @@ public class Pathfinder
if ((string?)nextTags.GetTag(pEdge.wayId, TagType.tagref) == curRef) if ((string?)nextTags.GetTag(pEdge.wayId, TagType.tagref) == curRef)
sameRef = true; sameRef = true;
} }
double sameRoadName = (sameRef || sameName ? 1 : 0) * sameRoadFactor;
double junctionCount = (neighborNode.edges.Count > 2 ? 0 : 1) * junctionFactor; double junctionCount = (neighborNode.edges.Count > 2 ? 0 : 1) * junctionFactor;
double roadPriority = priority * roadPriorityFactor;
double angle = 0; double sameRoadName = (sameRef || sameName ? 1 : 0) * sameRoadFactor;
if (_cameFromDict!.ContainsKey(currentNode)) return Utils.DistanceBetween(neighborNode, goalNode) / (speed * angle + 1);
{
OsmNode previousNode = _cameFromDict[currentNode];
Vector v1 = new(previousNode, currentNode);
Vector v2 = new(currentNode, neighborNode);
double nodeAngle = v1.Angle(v2);
angle = ((180 - nodeAngle) / 180) * nodeAngleFactor;
}
return Utils.DistanceBetween(neighborNode, goalNode) / (roadPriority + sameRoadName + junctionCount + angle);
} }
public void SaveResult(string path) public void SaveResult(string path)