64 lines
2.5 KiB
C#
64 lines
2.5 KiB
C#
using OSMDatastructure.Graph;
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using Utils = OSMDatastructure.Utils;
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namespace Pathfinding;
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public static partial class Pathfinder
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{
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public static List<PathNode> AStarTime(string workingDir, Coordinates start,
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Coordinates goal, Tag.SpeedType vehicle)
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{
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RegionManager regionManager = new (workingDir);
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ValueTuple<OsmNode?, OsmNode?> startAndEndNode = SetupNodes(start, goal, regionManager);
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if (startAndEndNode.Item1 is null || startAndEndNode.Item2 is null)
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return new List<PathNode>();
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OsmNode goalNode = startAndEndNode.Item2!;
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PriorityQueue<OsmNode, double> toVisit = new();
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toVisit.Enqueue(startAndEndNode.Item1, 0);
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bool stop = false;
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while (toVisit.Count > 0)
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{
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OsmNode closestNodeToGoal = toVisit.Dequeue();
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foreach (OsmEdge edge in closestNodeToGoal.edges.Where(
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edge => regionManager.TestValidConnectionForType(closestNodeToGoal, edge, vehicle)))
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{
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OsmNode? neighbor = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
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if (neighbor is not null)
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{
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double newPotentialWeight = closestNodeToGoal.currentPathLength +
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EdgeWeight(closestNodeToGoal, edge, vehicle, regionManager);
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if (newPotentialWeight < neighbor.currentPathWeight)
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{
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neighbor.previousPathNode = closestNodeToGoal;
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neighbor.currentPathLength = closestNodeToGoal.currentPathLength + Utils.DistanceBetween(closestNodeToGoal, neighbor);
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neighbor.currentPathWeight = newPotentialWeight;
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neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
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if (neighbor.Equals(goalNode))
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{
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stop = true;
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}
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else if(!stop)
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{
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toVisit.Enqueue(neighbor, neighbor.directDistanceToGoal);
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}
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}
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}
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}
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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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path.Add(PathNode.FromOsmNode(currentNode)!);
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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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} |