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handle more cases for two-step pathfinding, but still many not working.

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need to pull the main path search in
This commit is contained in:
Dustin Carlino 2020-06-29 12:03:34 -07:00
parent 4cd674ca35
commit fafda7963b
2 changed files with 48 additions and 40 deletions
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28
map_model/src/pathfind/mod.rs
View File

@ -514,33 +514,17 @@ impl Pathfinder {
let prepend = if start_r.is_private() {
let zone = map.road_to_zone(start_r.id);
let (src, dst) = zone.find_border(req.end, false, req.constraints, map)?;
let result = zone.pathfind(
PathRequest {
start: req.start,
end: Position::new(src, map.get_l(src).length()),
constraints: req.constraints,
},
map,
)?;
req.start = Position::new(dst, Distance::ZERO);
Some(result)
let (path, connection) = zone.find_path(&req, false, map)?;
req.start = Position::new(connection, Distance::ZERO);
Some(path)
} else {
None
};
let append = if end_r.is_private() {
let zone = map.road_to_zone(end_r.id);
let (src, dst) = zone.find_border(req.start, true, req.constraints, map)?;
let result = zone.pathfind(
PathRequest {
start: Position::new(dst, Distance::ZERO),
end: req.end,
constraints: req.constraints,
},
map,
)?;
req.end = Position::new(src, Distance::ZERO);
Some(result)
let (path, connection) = zone.find_path(&req, true, map)?;
req.end = Position::new(connection, map.get_l(connection).length());
Some(path)
} else {
None
};

60
map_model/src/zone.rs
View File

@ -1,8 +1,9 @@
use crate::pathfind::cost;
use crate::{
Intersection, IntersectionID, LaneID, Map, Path, PathConstraints, PathRequest, PathStep,
Position, RoadID, TurnID,
Intersection, IntersectionID, LaneID, Map, Path, PathRequest, PathStep, Position, RoadID,
TurnID,
};
use geom::Distance;
use petgraph::graphmap::DiGraphMap;
use serde::{Deserialize, Serialize};
use std::collections::BTreeSet;
@ -26,35 +27,57 @@ pub struct Zone {
}
impl Zone {
// If entering, then finds the (last lane outside the zone, first lane inside the zone). If
// not, the opposite.
pub(crate) fn find_border(
// The lane connection returned is the last lane outside the zone if entering, or the first
// lane outside the zone if exiting.
pub(crate) fn find_path(
&self,
outside: Position,
req: &PathRequest,
entering: bool,
constraints: PathConstraints,
map: &Map,
) -> Option<(LaneID, LaneID)> {
) -> Option<(Path, LaneID)> {
let mut borders: Vec<&Intersection> = self.borders.iter().map(|i| map.get_i(*i)).collect();
// TODO Use the CH
let pt = outside.pt(map);
let pt = if entering { req.start } else { req.end }.pt(map);
borders.sort_by_key(|i| pt.dist_to(i.polygon.center()));
for i in borders {
let src = i
.get_incoming_lanes(map, constraints)
.find(|l| self.members.contains(&map.get_l(*l).parent) == !entering)?;
let dst = i
.get_outgoing_lanes(map, constraints)
.into_iter()
.find(|l| self.members.contains(&map.get_l(*l).parent) == entering)?;
return Some((src, dst));
// TODO Should probably try all combos of incoming/outgoing lanes per border, but I
// think generally one should suffice?
if let Some(src) = i
.get_incoming_lanes(map, req.constraints)
.find(|l| self.members.contains(&map.get_l(*l).parent) == !entering)
{
if let Some(dst) = i
.get_outgoing_lanes(map, req.constraints)
.into_iter()
.find(|l| self.members.contains(&map.get_l(*l).parent) == entering)
{
if let Some(interior_path) = self.pathfind(
PathRequest {
start: if entering {
Position::new(dst, Distance::ZERO)
} else {
req.start
},
end: if entering {
req.end
} else {
Position::new(src, map.get_l(src).length())
},
constraints: req.constraints,
},
map,
) {
return Some((interior_path, if entering { src } else { dst }));
}
}
}
}
None
}
// Run slower Dijkstra's within the interior of a private zone. Don't go outside the borders.
pub(crate) fn pathfind(&self, req: PathRequest, map: &Map) -> Option<Path> {
fn pathfind(&self, req: PathRequest, map: &Map) -> Option<Path> {
// Edge type is the Turn, but we don't need it
let mut graph: DiGraphMap<LaneID, TurnID> = DiGraphMap::new();
for r in &self.members {
@ -87,6 +110,7 @@ impl Zone {
}));
}
steps.push(PathStep::Lane(req.end.lane()));
assert_eq!(steps[0], PathStep::Lane(req.start.lane()));
Some(Path::new(map, steps, req.end.dist_along()))
}
}