63 lines
2.7 KiB
C#
63 lines
2.7 KiB
C#
using OSMDatastructure;
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using OSMDatastructure.Graph;
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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 )
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{
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ValueTuple<OsmNode?, OsmNode?> retTuple = new();
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retTuple.Item1 = regionManager.ClosestNodeToCoordinates(startCoordinates, Tag.SpeedType.any);
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retTuple.Item2 = regionManager.ClosestNodeToCoordinates(goalCoordinates, Tag.SpeedType.any);
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if (retTuple.Item1 is null || retTuple.Item2 is null)
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return retTuple;
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retTuple.Item1.currentPathWeight = 0;
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retTuple.Item1.currentPathLength = 0;
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retTuple.Item1.directDistanceToGoal = Utils.DistanceBetween(retTuple.Item1, retTuple.Item2);
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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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{
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OsmNode? node2 = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
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if (node2 is null)
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return double.MaxValue;
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double distance = Utils.DistanceBetween(node1, node2);
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double speed = regionManager.GetSpeedForEdge(node1, edge.wayId, vehicle);
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if (speed is 0)
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return double.MaxValue;
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return distance / speed;
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}
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private static List<PathNode> GetRouteFromCalc(OsmNode goalNode, RegionManager regionManager)
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{
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List<PathNode> path = new();
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OsmNode? currentNode = goalNode;
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while (currentNode is not null)
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{
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HashSet<Tag>? tags = null;
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double pathDistanceDelta = 0;
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double pathWeightDelta = 0;
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double directDistanceDelta = 0;
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if (currentNode.previousPathNode is not null)
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{
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OsmEdge edge = currentNode.previousPathNode!.edges.First(e => e.neighborId.Equals(currentNode.nodeId));
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tags = regionManager.GetRegion(currentNode.coordinates)!.tagManager.GetTagsForWayId(edge.wayId);
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pathDistanceDelta = currentNode.currentPathLength - currentNode.previousPathNode.currentPathLength;
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pathWeightDelta = currentNode.currentPathWeight - currentNode.previousPathNode.currentPathWeight;
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directDistanceDelta =
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currentNode.directDistanceToGoal - currentNode.previousPathNode.directDistanceToGoal;
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}
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PathNode? pn = PathNode.FromOsmNode(currentNode, tags, pathDistanceDelta, pathWeightDelta, directDistanceDelta);
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if(pn is not null)
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path.Add(pn!);
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currentNode = currentNode.previousPathNode;
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}
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path.Reverse();
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return path;
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}
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} |