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id="347">347</span> <span id="348">348</span> <span id="349">349</span> <span id="350">350</span> </pre><div class="example-wrap"><pre class="rust "> <span class="kw">use</span> <span class="kw">crate</span>::<span class="ident">pathfind</span>::<span class="ident">driving</span>::<span class="ident">VehiclePathfinder</span>; <span class="kw">use</span> <span class="kw">crate</span>::<span class="ident">pathfind</span>::<span class="ident">walking</span>::{ <span class="ident">one_step_walking_path</span>, <span class="ident">walking_path_to_steps</span>, <span class="ident">SidewalkPathfinder</span>, <span class="ident">WalkingNode</span>, }; <span class="kw">use</span> <span class="kw">crate</span>::{ <span class="ident">BusRouteID</span>, <span class="ident">BusStopID</span>, <span class="ident">Intersection</span>, <span class="ident">Map</span>, <span class="ident">Path</span>, <span class="ident">PathConstraints</span>, <span class="ident">PathRequest</span>, <span class="ident">Position</span>, <span class="ident">TurnID</span>, <span class="ident">Zone</span>, }; <span class="kw">use</span> <span class="ident">abstutil</span>::<span class="ident">Timer</span>; <span class="kw">use</span> <span class="ident">serde</span>::{<span class="ident">Deserialize</span>, <span class="ident">Serialize</span>}; <span class="attribute">#[<span class="ident">derive</span>(<span class="ident">Serialize</span>, <span class="ident">Deserialize</span>)]</span> <span class="kw">pub</span> <span class="kw">struct</span> <span class="ident">ContractionHierarchyPathfinder</span> { <span class="ident">car_graph</span>: <span class="ident">VehiclePathfinder</span>, <span class="ident">bike_graph</span>: <span class="ident">VehiclePathfinder</span>, <span class="ident">bus_graph</span>: <span class="ident">VehiclePathfinder</span>, <span class="ident">train_graph</span>: <span class="ident">VehiclePathfinder</span>, <span class="ident">walking_graph</span>: <span class="ident">SidewalkPathfinder</span>, <span class="ident">walking_with_transit_graph</span>: <span class="ident">SidewalkPathfinder</span>, } <span class="kw">impl</span> <span class="ident">ContractionHierarchyPathfinder</span> { <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">new</span>(<span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>, <span class="ident">timer</span>: <span class="kw-2">&</span><span class="kw-2">mut</span> <span class="ident">Timer</span>) <span class="op">-</span><span class="op">></span> <span class="ident">ContractionHierarchyPathfinder</span> { <span class="ident">timer</span>.<span class="ident">start</span>(<span class="string">"prepare pathfinding for cars"</span>); <span class="kw">let</span> <span class="ident">car_graph</span> <span class="op">=</span> <span class="ident">VehiclePathfinder</span>::<span class="ident">new</span>(<span class="ident">map</span>, <span class="ident">PathConstraints</span>::<span class="ident">Car</span>, <span class="prelude-val">None</span>); <span class="ident">timer</span>.<span class="ident">stop</span>(<span class="string">"prepare pathfinding for cars"</span>); <span class="comment">// The edge weights for bikes are so different from the driving graph that reusing the node</span> <span class="comment">// ordering actually hurts!</span> <span class="ident">timer</span>.<span class="ident">start</span>(<span class="string">"prepare pathfinding for bikes"</span>); <span class="kw">let</span> <span class="ident">bike_graph</span> <span class="op">=</span> <span class="ident">VehiclePathfinder</span>::<span class="ident">new</span>(<span class="ident">map</span>, <span class="ident">PathConstraints</span>::<span class="ident">Bike</span>, <span class="prelude-val">None</span>); <span class="ident">timer</span>.<span class="ident">stop</span>(<span class="string">"prepare pathfinding for bikes"</span>); <span class="ident">timer</span>.<span class="ident">start</span>(<span class="string">"prepare pathfinding for buses"</span>); <span class="kw">let</span> <span class="ident">bus_graph</span> <span class="op">=</span> <span class="ident">VehiclePathfinder</span>::<span class="ident">new</span>(<span class="ident">map</span>, <span class="ident">PathConstraints</span>::<span class="ident">Bus</span>, <span class="prelude-val">Some</span>(<span class="kw-2">&</span><span class="ident">car_graph</span>)); <span class="ident">timer</span>.<span class="ident">stop</span>(<span class="string">"prepare pathfinding for buses"</span>); <span class="ident">timer</span>.<span class="ident">start</span>(<span class="string">"prepare pathfinding for trains"</span>); <span class="kw">let</span> <span class="ident">train_graph</span> <span class="op">=</span> <span class="ident">VehiclePathfinder</span>::<span class="ident">new</span>(<span class="ident">map</span>, <span class="ident">PathConstraints</span>::<span class="ident">Train</span>, <span class="prelude-val">None</span>); <span class="ident">timer</span>.<span class="ident">stop</span>(<span class="string">"prepare pathfinding for trains"</span>); <span class="ident">timer</span>.<span class="ident">start</span>(<span class="string">"prepare pathfinding for pedestrians"</span>); <span class="kw">let</span> <span class="ident">walking_graph</span> <span class="op">=</span> <span class="ident">SidewalkPathfinder</span>::<span class="ident">new</span>(<span class="ident">map</span>, <span class="bool-val">false</span>, <span class="kw-2">&</span><span class="ident">bus_graph</span>, <span class="kw-2">&</span><span class="ident">train_graph</span>); <span class="ident">timer</span>.<span class="ident">stop</span>(<span class="string">"prepare pathfinding for pedestrians"</span>); <span class="ident">timer</span>.<span class="ident">start</span>(<span class="string">"prepare pathfinding for pedestrians using transit"</span>); <span class="kw">let</span> <span class="ident">walking_with_transit_graph</span> <span class="op">=</span> <span class="ident">SidewalkPathfinder</span>::<span class="ident">new</span>(<span class="ident">map</span>, <span class="bool-val">true</span>, <span class="kw-2">&</span><span class="ident">bus_graph</span>, <span class="kw-2">&</span><span class="ident">train_graph</span>); <span class="ident">timer</span>.<span class="ident">stop</span>(<span class="string">"prepare pathfinding for pedestrians using transit"</span>); <span class="ident">ContractionHierarchyPathfinder</span> { <span class="ident">car_graph</span>, <span class="ident">bike_graph</span>, <span class="ident">bus_graph</span>, <span class="ident">train_graph</span>, <span class="ident">walking_graph</span>, <span class="ident">walking_with_transit_graph</span>, } } <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="self">self</span>, <span class="ident">req</span>: <span class="ident">PathRequest</span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>) <span class="op">-</span><span class="op">></span> <span class="prelude-ty">Option</span><span class="op"><</span><span class="ident">Path</span><span class="op">></span> { <span class="kw">if</span> <span class="ident">req</span>.<span class="ident">start</span>.<span class="ident">lane</span>() <span class="op">=</span><span class="op">=</span> <span class="ident">req</span>.<span class="ident">end</span>.<span class="ident">lane</span>() <span class="kw-2">&</span><span class="op">&</span> <span class="ident">req</span>.<span class="ident">constraints</span> <span class="op">=</span><span class="op">=</span> <span class="ident">PathConstraints</span>::<span class="ident">Pedestrian</span> { <span class="kw">return</span> <span class="prelude-val">Some</span>(<span class="ident">one_step_walking_path</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>)); } <span class="comment">// If we start or end in a private zone, have to stitch together a smaller path with a path</span> <span class="comment">// through the main map.</span> <span class="kw">let</span> <span class="ident">start_r</span> <span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_parent</span>(<span class="ident">req</span>.<span class="ident">start</span>.<span class="ident">lane</span>()); <span class="kw">let</span> <span class="ident">end_r</span> <span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_parent</span>(<span class="ident">req</span>.<span class="ident">end</span>.<span class="ident">lane</span>()); <span class="kw">match</span> (<span class="ident">start_r</span>.<span class="ident">get_zone</span>(<span class="ident">map</span>), <span class="ident">end_r</span>.<span class="ident">get_zone</span>(<span class="ident">map</span>)) { (<span class="prelude-val">Some</span>(<span class="ident">z1</span>), <span class="prelude-val">Some</span>(<span class="ident">z2</span>)) <span class="op">=</span><span class="op">></span> { <span class="kw">if</span> <span class="ident">z1</span> <span class="op">=</span><span class="op">=</span> <span class="ident">z2</span> { <span class="kw">if</span> <span class="op">!</span><span class="ident">z1</span> .<span class="ident">restrictions</span> .<span class="ident">allow_through_traffic</span> .<span class="ident">contains</span>(<span class="ident">req</span>.<span class="ident">constraints</span>) { <span class="kw">if</span> <span class="ident">req</span>.<span class="ident">constraints</span> <span class="op">=</span><span class="op">=</span> <span class="ident">PathConstraints</span>::<span class="ident">Pedestrian</span> { <span class="kw">let</span> <span class="ident">steps</span> <span class="op">=</span> <span class="ident">walking_path_to_steps</span>(<span class="ident">z1</span>.<span class="ident">pathfind_walking</span>(<span class="ident">req</span>.<span class="ident">clone</span>(), <span class="ident">map</span>)<span class="question-mark">?</span>, <span class="ident">map</span>); <span class="kw">return</span> <span class="prelude-val">Some</span>(<span class="ident">Path</span>::<span class="ident">new</span>(<span class="ident">map</span>, <span class="ident">steps</span>, <span class="ident">req</span>.<span class="ident">end</span>.<span class="ident">dist_along</span>(), <span class="ident">Vec</span>::<span class="ident">new</span>())); } <span class="kw">return</span> <span class="ident">z1</span>.<span class="ident">pathfind</span>(<span class="ident">req</span>, <span class="ident">map</span>); } } <span class="kw">else</span> { <span class="comment">// TODO Handle paths going between two different zones</span> <span class="kw">return</span> <span class="prelude-val">None</span>; } } (<span class="prelude-val">Some</span>(<span class="ident">zone</span>), <span class="prelude-val">None</span>) <span class="op">=</span><span class="op">></span> { <span class="kw">if</span> <span class="op">!</span><span class="ident">zone</span> .<span class="ident">restrictions</span> .<span class="ident">allow_through_traffic</span> .<span class="ident">contains</span>(<span class="ident">req</span>.<span class="ident">constraints</span>) { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">borders</span>: <span class="ident">Vec</span><span class="op"><</span><span class="kw-2">&</span><span class="ident">Intersection</span><span class="op">></span> <span class="op">=</span> <span class="ident">zone</span>.<span class="ident">borders</span>.<span class="ident">iter</span>().<span class="ident">map</span>(<span class="op">|</span><span class="ident">i</span><span class="op">|</span> <span class="ident">map</span>.<span class="ident">get_i</span>(<span class="kw-2">*</span><span class="ident">i</span>)).<span class="ident">collect</span>(); <span class="comment">// TODO Use the CH to pick the lowest overall cost?</span> <span class="kw">let</span> <span class="ident">pt</span> <span class="op">=</span> <span class="ident">req</span>.<span class="ident">end</span>.<span class="ident">pt</span>(<span class="ident">map</span>); <span class="ident">borders</span>.<span class="ident">sort_by_key</span>(<span class="op">|</span><span class="ident">i</span><span class="op">|</span> <span class="ident">pt</span>.<span class="ident">dist_to</span>(<span class="ident">i</span>.<span class="ident">polygon</span>.<span class="ident">center</span>())); <span class="kw">for</span> <span class="ident">i</span> <span class="kw">in</span> <span class="ident">borders</span> { <span class="kw">if</span> <span class="kw">let</span> <span class="prelude-val">Some</span>(<span class="ident">result</span>) <span class="op">=</span> <span class="self">self</span>.<span class="ident">pathfind_from_zone</span>(<span class="ident">i</span>, <span class="ident">req</span>.<span class="ident">clone</span>(), <span class="ident">zone</span>, <span class="ident">map</span>) { <span class="kw">return</span> <span class="prelude-val">Some</span>(<span class="ident">result</span>); } } <span class="kw">return</span> <span class="prelude-val">None</span>; } } (<span class="prelude-val">None</span>, <span class="prelude-val">Some</span>(<span class="ident">zone</span>)) <span class="op">=</span><span class="op">></span> { <span class="kw">if</span> <span class="op">!</span><span class="ident">zone</span> .<span class="ident">restrictions</span> .<span class="ident">allow_through_traffic</span> .<span class="ident">contains</span>(<span class="ident">req</span>.<span class="ident">constraints</span>) { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">borders</span>: <span class="ident">Vec</span><span class="op"><</span><span class="kw-2">&</span><span class="ident">Intersection</span><span class="op">></span> <span class="op">=</span> <span class="ident">zone</span>.<span class="ident">borders</span>.<span class="ident">iter</span>().<span class="ident">map</span>(<span class="op">|</span><span class="ident">i</span><span class="op">|</span> <span class="ident">map</span>.<span class="ident">get_i</span>(<span class="kw-2">*</span><span class="ident">i</span>)).<span class="ident">collect</span>(); <span class="comment">// TODO Use the CH to pick the lowest overall cost?</span> <span class="kw">let</span> <span class="ident">pt</span> <span class="op">=</span> <span class="ident">req</span>.<span class="ident">start</span>.<span class="ident">pt</span>(<span class="ident">map</span>); <span class="ident">borders</span>.<span class="ident">sort_by_key</span>(<span class="op">|</span><span class="ident">i</span><span class="op">|</span> <span class="ident">pt</span>.<span class="ident">dist_to</span>(<span class="ident">i</span>.<span class="ident">polygon</span>.<span class="ident">center</span>())); <span class="kw">for</span> <span class="ident">i</span> <span class="kw">in</span> <span class="ident">borders</span> { <span class="kw">if</span> <span class="kw">let</span> <span class="prelude-val">Some</span>(<span class="ident">result</span>) <span class="op">=</span> <span class="self">self</span>.<span class="ident">pathfind_to_zone</span>(<span class="ident">i</span>, <span class="ident">req</span>.<span class="ident">clone</span>(), <span class="ident">zone</span>, <span class="ident">map</span>) { <span class="kw">return</span> <span class="prelude-val">Some</span>(<span class="ident">result</span>); } } <span class="kw">return</span> <span class="prelude-val">None</span>; } } (<span class="prelude-val">None</span>, <span class="prelude-val">None</span>) <span class="op">=</span><span class="op">></span> {} } <span class="kw">match</span> <span class="ident">req</span>.<span class="ident">constraints</span> { <span class="ident">PathConstraints</span>::<span class="ident">Pedestrian</span> <span class="op">=</span><span class="op">></span> { <span class="kw">let</span> <span class="ident">steps</span> <span class="op">=</span> <span class="ident">walking_path_to_steps</span>(<span class="self">self</span>.<span class="ident">walking_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>)<span class="question-mark">?</span>, <span class="ident">map</span>); <span class="prelude-val">Some</span>(<span class="ident">Path</span>::<span class="ident">new</span>(<span class="ident">map</span>, <span class="ident">steps</span>, <span class="ident">req</span>.<span class="ident">end</span>.<span class="ident">dist_along</span>(), <span class="ident">Vec</span>::<span class="ident">new</span>())) } <span class="ident">PathConstraints</span>::<span class="ident">Car</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">car_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), <span class="ident">PathConstraints</span>::<span class="ident">Bike</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">bike_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), <span class="ident">PathConstraints</span>::<span class="ident">Bus</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">bus_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), <span class="ident">PathConstraints</span>::<span class="ident">Train</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">train_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), } } <span class="comment">// TODO Alright, reconsider refactoring pieces of this again. :)</span> <span class="kw">fn</span> <span class="ident">pathfind_from_zone</span>( <span class="kw-2">&</span><span class="self">self</span>, <span class="ident">i</span>: <span class="kw-2">&</span><span class="ident">Intersection</span>, <span class="kw-2">mut</span> <span class="ident">req</span>: <span class="ident">PathRequest</span>, <span class="ident">zone</span>: <span class="kw-2">&</span><span class="ident">Zone</span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>, ) <span class="op">-</span><span class="op">></span> <span class="prelude-ty">Option</span><span class="op"><</span><span class="ident">Path</span><span class="op">></span> { <span class="comment">// Because sidewalks aren't all immediately linked, insist on a (src, dst) combo that</span> <span class="comment">// are actually connected by a turn.</span> <span class="kw">let</span> <span class="ident">src_choices</span> <span class="op">=</span> <span class="ident">i</span> .<span class="ident">get_incoming_lanes</span>(<span class="ident">map</span>, <span class="ident">req</span>.<span class="ident">constraints</span>) .<span class="ident">filter</span>(<span class="op">|</span><span class="ident">l</span><span class="op">|</span> <span class="ident">zone</span>.<span class="ident">members</span>.<span class="ident">contains</span>(<span class="kw-2">&</span><span class="ident">map</span>.<span class="ident">get_l</span>(<span class="kw-2">*</span><span class="ident">l</span>).<span class="ident">parent</span>)) .<span class="ident">collect</span>::<span class="op"><</span><span class="ident">Vec</span><span class="op"><</span><span class="kw">_</span><span class="op">></span><span class="op">></span>(); <span class="kw">let</span> <span class="ident">dst_choices</span> <span class="op">=</span> <span class="ident">i</span> .<span class="ident">get_outgoing_lanes</span>(<span class="ident">map</span>, <span class="ident">req</span>.<span class="ident">constraints</span>) .<span class="ident">into_iter</span>() .<span class="ident">filter</span>(<span class="op">|</span><span class="ident">l</span><span class="op">|</span> <span class="op">!</span><span class="ident">zone</span>.<span class="ident">members</span>.<span class="ident">contains</span>(<span class="kw-2">&</span><span class="ident">map</span>.<span class="ident">get_l</span>(<span class="kw-2">*</span><span class="ident">l</span>).<span class="ident">parent</span>)) .<span class="ident">collect</span>::<span class="op"><</span><span class="ident">Vec</span><span class="op"><</span><span class="kw">_</span><span class="op">></span><span class="op">></span>(); <span class="kw">let</span> (<span class="ident">src</span>, <span class="ident">dst</span>) <span class="op">=</span> { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">result</span> <span class="op">=</span> <span class="prelude-val">None</span>; <span class="lifetime">'OUTER</span>: <span class="kw">for</span> <span class="ident">l1</span> <span class="kw">in</span> <span class="ident">src_choices</span> { <span class="kw">for</span> <span class="ident">l2</span> <span class="kw">in</span> <span class="kw-2">&</span><span class="ident">dst_choices</span> { <span class="kw">if</span> <span class="ident">l1</span> <span class="op">!</span><span class="op">=</span> <span class="kw-2">*</span><span class="ident">l2</span> <span class="kw-2">&</span><span class="op">&</span> <span class="ident">map</span> .<span class="ident">maybe_get_t</span>(<span class="ident">TurnID</span> { <span class="ident">parent</span>: <span class="ident">i</span>.<span class="ident">id</span>, <span class="ident">src</span>: <span class="ident">l1</span>, <span class="ident">dst</span>: <span class="kw-2">*</span><span class="ident">l2</span>, }) .<span class="ident">is_some</span>() { <span class="ident">result</span> <span class="op">=</span> <span class="prelude-val">Some</span>((<span class="ident">l1</span>, <span class="kw-2">*</span><span class="ident">l2</span>)); <span class="kw">break</span> <span class="lifetime">'OUTER</span>; } } } <span class="ident">result</span><span class="question-mark">?</span> }; <span class="kw">let</span> <span class="ident">interior_req</span> <span class="op">=</span> <span class="ident">PathRequest</span> { <span class="ident">start</span>: <span class="ident">req</span>.<span class="ident">start</span>, <span class="ident">end</span>: <span class="kw">if</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="ident">src</span>).<span class="ident">dst_i</span> <span class="op">=</span><span class="op">=</span> <span class="ident">i</span>.<span class="ident">id</span> { <span class="ident">Position</span>::<span class="ident">end</span>(<span class="ident">src</span>, <span class="ident">map</span>) } <span class="kw">else</span> { <span class="ident">Position</span>::<span class="ident">start</span>(<span class="ident">src</span>) }, <span class="ident">constraints</span>: <span class="ident">req</span>.<span class="ident">constraints</span>, }; <span class="ident">req</span>.<span class="ident">start</span> <span class="op">=</span> <span class="kw">if</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="ident">dst</span>).<span class="ident">src_i</span> <span class="op">=</span><span class="op">=</span> <span class="ident">i</span>.<span class="ident">id</span> { <span class="ident">Position</span>::<span class="ident">start</span>(<span class="ident">dst</span>) } <span class="kw">else</span> { <span class="ident">Position</span>::<span class="ident">end</span>(<span class="ident">dst</span>, <span class="ident">map</span>) }; <span class="kw">if</span> <span class="kw">let</span> <span class="ident">PathConstraints</span>::<span class="ident">Pedestrian</span> <span class="op">=</span> <span class="ident">req</span>.<span class="ident">constraints</span> { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">interior_path</span> <span class="op">=</span> <span class="ident">zone</span>.<span class="ident">pathfind_walking</span>(<span class="ident">interior_req</span>, <span class="ident">map</span>)<span class="question-mark">?</span>; <span class="kw">let</span> <span class="ident">main_path</span> <span class="op">=</span> <span class="kw">if</span> <span class="ident">req</span>.<span class="ident">start</span>.<span class="ident">lane</span>() <span class="op">=</span><span class="op">=</span> <span class="ident">req</span>.<span class="ident">end</span>.<span class="ident">lane</span>() { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">one_step</span> <span class="op">=</span> <span class="macro">vec</span><span class="macro">!</span>[ <span class="ident">WalkingNode</span>::<span class="ident">closest</span>(<span class="ident">req</span>.<span class="ident">start</span>, <span class="ident">map</span>), <span class="ident">WalkingNode</span>::<span class="ident">closest</span>(<span class="ident">req</span>.<span class="ident">end</span>, <span class="ident">map</span>), ]; <span class="ident">one_step</span>.<span class="ident">dedup</span>(); <span class="ident">one_step</span> } <span class="kw">else</span> { <span class="self">self</span>.<span class="ident">walking_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>)<span class="question-mark">?</span> }; <span class="ident">interior_path</span>.<span class="ident">extend</span>(<span class="ident">main_path</span>); <span class="kw">let</span> <span class="ident">steps</span> <span class="op">=</span> <span class="ident">walking_path_to_steps</span>(<span class="ident">interior_path</span>, <span class="ident">map</span>); <span class="kw">return</span> <span class="prelude-val">Some</span>(<span class="ident">Path</span>::<span class="ident">new</span>(<span class="ident">map</span>, <span class="ident">steps</span>, <span class="ident">req</span>.<span class="ident">end</span>.<span class="ident">dist_along</span>(), <span class="ident">Vec</span>::<span class="ident">new</span>())); } <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">interior_path</span> <span class="op">=</span> <span class="ident">zone</span>.<span class="ident">pathfind</span>(<span class="ident">interior_req</span>, <span class="ident">map</span>)<span class="question-mark">?</span>; <span class="kw">let</span> <span class="ident">main_path</span> <span class="op">=</span> <span class="kw">match</span> <span class="ident">req</span>.<span class="ident">constraints</span> { <span class="ident">PathConstraints</span>::<span class="ident">Pedestrian</span> <span class="op">=</span><span class="op">></span> <span class="macro">unreachable</span><span class="macro">!</span>(), <span class="ident">PathConstraints</span>::<span class="ident">Car</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">car_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), <span class="ident">PathConstraints</span>::<span class="ident">Bike</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">bike_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), <span class="ident">PathConstraints</span>::<span class="ident">Bus</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">bus_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), <span class="ident">PathConstraints</span>::<span class="ident">Train</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">train_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), }<span class="question-mark">?</span>; <span class="ident">interior_path</span>.<span class="ident">append</span>(<span class="ident">main_path</span>, <span class="ident">map</span>); <span class="prelude-val">Some</span>(<span class="ident">interior_path</span>) } <span class="kw">fn</span> <span class="ident">pathfind_to_zone</span>( <span class="kw-2">&</span><span class="self">self</span>, <span class="ident">i</span>: <span class="kw-2">&</span><span class="ident">Intersection</span>, <span class="kw-2">mut</span> <span class="ident">req</span>: <span class="ident">PathRequest</span>, <span class="ident">zone</span>: <span class="kw-2">&</span><span class="ident">Zone</span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>, ) <span class="op">-</span><span class="op">></span> <span class="prelude-ty">Option</span><span class="op"><</span><span class="ident">Path</span><span class="op">></span> { <span class="comment">// Because sidewalks aren't all immediately linked, insist on a (src, dst) combo that</span> <span class="comment">// are actually connected by a turn.</span> <span class="kw">let</span> <span class="ident">src_choices</span> <span class="op">=</span> <span class="ident">i</span> .<span class="ident">get_incoming_lanes</span>(<span class="ident">map</span>, <span class="ident">req</span>.<span class="ident">constraints</span>) .<span class="ident">filter</span>(<span class="op">|</span><span class="ident">l</span><span class="op">|</span> <span class="op">!</span><span class="ident">zone</span>.<span class="ident">members</span>.<span class="ident">contains</span>(<span class="kw-2">&</span><span class="ident">map</span>.<span class="ident">get_l</span>(<span class="kw-2">*</span><span class="ident">l</span>).<span class="ident">parent</span>)) .<span class="ident">collect</span>::<span class="op"><</span><span class="ident">Vec</span><span class="op"><</span><span class="kw">_</span><span class="op">></span><span class="op">></span>(); <span class="kw">let</span> <span class="ident">dst_choices</span> <span class="op">=</span> <span class="ident">i</span> .<span class="ident">get_outgoing_lanes</span>(<span class="ident">map</span>, <span class="ident">req</span>.<span class="ident">constraints</span>) .<span class="ident">into_iter</span>() .<span class="ident">filter</span>(<span class="op">|</span><span class="ident">l</span><span class="op">|</span> <span class="ident">zone</span>.<span class="ident">members</span>.<span class="ident">contains</span>(<span class="kw-2">&</span><span class="ident">map</span>.<span class="ident">get_l</span>(<span class="kw-2">*</span><span class="ident">l</span>).<span class="ident">parent</span>)) .<span class="ident">collect</span>::<span class="op"><</span><span class="ident">Vec</span><span class="op"><</span><span class="kw">_</span><span class="op">></span><span class="op">></span>(); <span class="kw">let</span> (<span class="ident">src</span>, <span class="ident">dst</span>) <span class="op">=</span> { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">result</span> <span class="op">=</span> <span class="prelude-val">None</span>; <span class="lifetime">'OUTER</span>: <span class="kw">for</span> <span class="ident">l1</span> <span class="kw">in</span> <span class="ident">src_choices</span> { <span class="kw">for</span> <span class="ident">l2</span> <span class="kw">in</span> <span class="kw-2">&</span><span class="ident">dst_choices</span> { <span class="kw">if</span> <span class="ident">l1</span> <span class="op">!</span><span class="op">=</span> <span class="kw-2">*</span><span class="ident">l2</span> <span class="kw-2">&</span><span class="op">&</span> <span class="ident">map</span> .<span class="ident">maybe_get_t</span>(<span class="ident">TurnID</span> { <span class="ident">parent</span>: <span class="ident">i</span>.<span class="ident">id</span>, <span class="ident">src</span>: <span class="ident">l1</span>, <span class="ident">dst</span>: <span class="kw-2">*</span><span class="ident">l2</span>, }) .<span class="ident">is_some</span>() { <span class="ident">result</span> <span class="op">=</span> <span class="prelude-val">Some</span>((<span class="ident">l1</span>, <span class="kw-2">*</span><span class="ident">l2</span>)); <span class="kw">break</span> <span class="lifetime">'OUTER</span>; } } } <span class="ident">result</span><span class="question-mark">?</span> }; <span class="kw">let</span> <span class="ident">interior_req</span> <span class="op">=</span> <span class="ident">PathRequest</span> { <span class="ident">start</span>: <span class="kw">if</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="ident">dst</span>).<span class="ident">src_i</span> <span class="op">=</span><span class="op">=</span> <span class="ident">i</span>.<span class="ident">id</span> { <span class="ident">Position</span>::<span class="ident">start</span>(<span class="ident">dst</span>) } <span class="kw">else</span> { <span class="ident">Position</span>::<span class="ident">end</span>(<span class="ident">dst</span>, <span class="ident">map</span>) }, <span class="ident">end</span>: <span class="ident">req</span>.<span class="ident">end</span>, <span class="ident">constraints</span>: <span class="ident">req</span>.<span class="ident">constraints</span>, }; <span class="kw">let</span> <span class="ident">orig_end_dist</span> <span class="op">=</span> <span class="ident">req</span>.<span class="ident">end</span>.<span class="ident">dist_along</span>(); <span class="ident">req</span>.<span class="ident">end</span> <span class="op">=</span> <span class="kw">if</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="ident">src</span>).<span class="ident">dst_i</span> <span class="op">=</span><span class="op">=</span> <span class="ident">i</span>.<span class="ident">id</span> { <span class="ident">Position</span>::<span class="ident">end</span>(<span class="ident">src</span>, <span class="ident">map</span>) } <span class="kw">else</span> { <span class="ident">Position</span>::<span class="ident">start</span>(<span class="ident">src</span>) }; <span class="kw">if</span> <span class="kw">let</span> <span class="ident">PathConstraints</span>::<span class="ident">Pedestrian</span> <span class="op">=</span> <span class="ident">req</span>.<span class="ident">constraints</span> { <span class="kw">let</span> <span class="ident">interior_path</span> <span class="op">=</span> <span class="ident">zone</span>.<span class="ident">pathfind_walking</span>(<span class="ident">interior_req</span>, <span class="ident">map</span>)<span class="question-mark">?</span>; <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">main_path</span> <span class="op">=</span> <span class="kw">if</span> <span class="ident">req</span>.<span class="ident">start</span>.<span class="ident">lane</span>() <span class="op">=</span><span class="op">=</span> <span class="ident">req</span>.<span class="ident">end</span>.<span class="ident">lane</span>() { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">one_step</span> <span class="op">=</span> <span class="macro">vec</span><span class="macro">!</span>[ <span class="ident">WalkingNode</span>::<span class="ident">closest</span>(<span class="ident">req</span>.<span class="ident">start</span>, <span class="ident">map</span>), <span class="ident">WalkingNode</span>::<span class="ident">closest</span>(<span class="ident">req</span>.<span class="ident">end</span>, <span class="ident">map</span>), ]; <span class="ident">one_step</span>.<span class="ident">dedup</span>(); <span class="ident">one_step</span> } <span class="kw">else</span> { <span class="self">self</span>.<span class="ident">walking_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>)<span class="question-mark">?</span> }; <span class="ident">main_path</span>.<span class="ident">extend</span>(<span class="ident">interior_path</span>); <span class="kw">let</span> <span class="ident">steps</span> <span class="op">=</span> <span class="ident">walking_path_to_steps</span>(<span class="ident">main_path</span>, <span class="ident">map</span>); <span class="kw">return</span> <span class="prelude-val">Some</span>(<span class="ident">Path</span>::<span class="ident">new</span>(<span class="ident">map</span>, <span class="ident">steps</span>, <span class="ident">orig_end_dist</span>, <span class="ident">Vec</span>::<span class="ident">new</span>())); } <span class="kw">let</span> <span class="ident">interior_path</span> <span class="op">=</span> <span class="ident">zone</span>.<span class="ident">pathfind</span>(<span class="ident">interior_req</span>, <span class="ident">map</span>)<span class="question-mark">?</span>; <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">main_path</span> <span class="op">=</span> <span class="kw">match</span> <span class="ident">req</span>.<span class="ident">constraints</span> { <span class="ident">PathConstraints</span>::<span class="ident">Pedestrian</span> <span class="op">=</span><span class="op">></span> <span class="macro">unreachable</span><span class="macro">!</span>(), <span class="ident">PathConstraints</span>::<span class="ident">Car</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">car_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), <span class="ident">PathConstraints</span>::<span class="ident">Bike</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">bike_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), <span class="ident">PathConstraints</span>::<span class="ident">Bus</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">bus_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), <span class="ident">PathConstraints</span>::<span class="ident">Train</span> <span class="op">=</span><span class="op">></span> <span class="self">self</span>.<span class="ident">train_graph</span>.<span class="ident">pathfind</span>(<span class="kw-2">&</span><span class="ident">req</span>, <span class="ident">map</span>).<span class="ident">map</span>(<span class="op">|</span>(<span class="ident">p</span>, <span class="kw">_</span>)<span class="op">|</span> <span class="ident">p</span>), }<span class="question-mark">?</span>; <span class="ident">main_path</span>.<span class="ident">append</span>(<span class="ident">interior_path</span>, <span class="ident">map</span>); <span class="ident">main_path</span>.<span class="ident">end_dist</span> <span class="op">=</span> <span class="ident">orig_end_dist</span>; <span class="prelude-val">Some</span>(<span class="ident">main_path</span>) } <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">should_use_transit</span>( <span class="kw-2">&</span><span class="self">self</span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>, <span class="ident">start</span>: <span class="ident">Position</span>, <span class="ident">end</span>: <span class="ident">Position</span>, ) <span class="op">-</span><span class="op">></span> <span class="prelude-ty">Option</span><span class="op"><</span>(<span class="ident">BusStopID</span>, <span class="prelude-ty">Option</span><span class="op"><</span><span class="ident">BusStopID</span><span class="op">></span>, <span class="ident">BusRouteID</span>)<span class="op">></span> { <span class="self">self</span>.<span class="ident">walking_with_transit_graph</span> .<span class="ident">should_use_transit</span>(<span class="ident">map</span>, <span class="ident">start</span>, <span class="ident">end</span>) } <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">apply_edits</span>(<span class="kw-2">&</span><span class="kw-2">mut</span> <span class="self">self</span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>, <span class="ident">timer</span>: <span class="kw-2">&</span><span class="kw-2">mut</span> <span class="ident">Timer</span>) { <span class="ident">timer</span>.<span class="ident">start</span>(<span class="string">"apply edits to car pathfinding"</span>); <span class="self">self</span>.<span class="ident">car_graph</span>.<span class="ident">apply_edits</span>(<span class="ident">map</span>); <span class="ident">timer</span>.<span class="ident">stop</span>(<span class="string">"apply edits to car pathfinding"</span>); <span class="ident">timer</span>.<span class="ident">start</span>(<span class="string">"apply edits to bike pathfinding"</span>); <span class="self">self</span>.<span class="ident">bike_graph</span>.<span class="ident">apply_edits</span>(<span class="ident">map</span>); <span class="ident">timer</span>.<span class="ident">stop</span>(<span class="string">"apply edits to bike pathfinding"</span>); <span class="ident">timer</span>.<span class="ident">start</span>(<span class="string">"apply edits to bus pathfinding"</span>); <span class="self">self</span>.<span class="ident">bus_graph</span>.<span class="ident">apply_edits</span>(<span class="ident">map</span>); <span class="ident">timer</span>.<span class="ident">stop</span>(<span class="string">"apply edits to bus pathfinding"</span>); <span class="comment">// Can't edit anything related to trains</span> <span class="ident">timer</span>.<span class="ident">start</span>(<span class="string">"apply edits to pedestrian pathfinding"</span>); <span class="self">self</span>.<span class="ident">walking_graph</span> .<span class="ident">apply_edits</span>(<span class="ident">map</span>, <span class="kw-2">&</span><span class="self">self</span>.<span class="ident">bus_graph</span>, <span class="kw-2">&</span><span class="self">self</span>.<span class="ident">train_graph</span>); <span class="ident">timer</span>.<span class="ident">stop</span>(<span class="string">"apply edits to pedestrian pathfinding"</span>); <span class="ident">timer</span>.<span class="ident">start</span>(<span class="string">"apply edits to pedestrian using transit pathfinding"</span>); <span class="self">self</span>.<span class="ident">walking_with_transit_graph</span> .<span class="ident">apply_edits</span>(<span class="ident">map</span>, <span class="kw-2">&</span><span class="self">self</span>.<span class="ident">bus_graph</span>, <span class="kw-2">&</span><span class="self">self</span>.<span class="ident">train_graph</span>); <span class="ident">timer</span>.<span class="ident">stop</span>(<span class="string">"apply edits to pedestrian using transit pathfinding"</span>); } } </pre></div> </section><section id="search" class="content hidden"></section><section class="footer"></section><script>window.rootPath = "../../../";window.currentCrate = "map_model";</script><script src="../../../main.js"></script><script src="../../../source-script.js"></script><script src="../../../source-files.js"></script><script defer src="../../../search-index.js"></script></body></html>