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Delete Astar - Copy.lua
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--- **Core** - A* Pathfinding.
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--
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-- **Main Features:**
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--
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-- * Find path from A to B.
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-- * Pre-defined as well as custom valid neighbour functions.
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-- * Pre-defined as well as custom cost functions.
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-- * Easy rectangular grid setup.
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--
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-- ===
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--
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-- ### Author: **funkyfranky**
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-- @module Core.Astar
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-- @image CORE_Astar.png
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--- ASTAR class.
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-- @type ASTAR
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-- @field #string ClassName Name of the class.
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-- @field #boolean Debug Debug mode. Messages to all about status.
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-- @field #string lid Class id string for output to DCS log file.
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-- @field #table nodes Table of nodes.
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-- @field #number counter Node counter.
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-- @field #ASTAR.Node startNode Start node.
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-- @field #ASTAR.Node endNode End node.
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-- @field Core.Point#COORDINATE startCoord Start coordinate.
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-- @field Core.Point#COORDINATE endCoord End coordinate.
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-- @field #function ValidNeighbourFunc Function to check if a node is valid.
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-- @field #table ValidNeighbourArg Optional arguments passed to the valid neighbour function.
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-- @field #function CostFunc Function to calculate the heuristic "cost" to go from one node to another.
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-- @field #table CostArg Optional arguments passed to the cost function.
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-- @extends Core.Base#BASE
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--- When nothing goes right... Go left!
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--
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-- ===
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--
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-- 
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--
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-- # The ASTAR Concept
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--
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-- Pathfinding algorithm.
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--
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--
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-- # Start and Goal
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--
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-- The first thing we need to define is obviously the place where we want to start and where we want to go eventually.
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--
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-- ## Start
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--
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-- The start
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--
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-- ## Goal
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--
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--
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-- # Nodes
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--
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-- ## Rectangular Grid
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--
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-- A rectangular grid can be created using the @{#ASTAR.CreateGrid}(*ValidSurfaceTypes, BoxHY, SpaceX, deltaX, deltaY, MarkGrid*), where
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--
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-- * *ValidSurfaceTypes* is a table of valid surface types. By default all surface types are valid.
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-- * *BoxXY* is the width of the grid perpendicular the the line between start and end node. Default is 40,000 meters (40 km).
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-- * *SpaceX* is the additional space behind the start and end nodes. Default is 20,000 meters (20 km).
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-- * *deltaX* is the grid spacing between nodes in the direction of start and end node. Default is 2,000 meters (2 km).
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-- * *deltaY* is the grid spacing perpendicular to the direction of start and end node. Default is the same as *deltaX*.
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-- * *MarkGrid* If set to *true*, this places marker on the F10 map on each grid node. Note that this can stall DCS if too many nodes are created.
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--
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-- ## Valid Surfaces
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--
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-- Certain unit types can only travel on certain surfaces types, for example
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--
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-- * Naval units can only travel on water (that also excludes shallow water in DCS currently),
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-- * Ground units can only traval on land.
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--
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-- By restricting the surface type in the grid construction, we also reduce the number of nodes, which makes the algorithm more efficient.
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--
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-- ## Box Width (BoxHY)
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--
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-- The box width needs to be large enough to capture all paths you want to consider.
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--
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-- ## Space in X
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--
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-- The space in X value is important if the algorithm needs to to backwards from the start node or needs to extend even further than the end node.
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--
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-- ## Grid Spacing
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--
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-- The grid spacing is an important factor as it determines the number of nodes and hence the performance of the algorithm. It should be as large as possible.
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-- However, if the value is too large, the algorithm might fail to get a valid path.
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--
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-- A good estimate of the grid spacing is to set it to be smaller (~ half the size) of the smallest gap you need to path.
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--
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-- # Valid Neighbours
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--
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-- The A* algorithm needs to know if a transition from one node to another is allowed or not. By default, hopping from one node to another is always possible.
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--
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-- ## Line of Sight
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--
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-- For naval
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--
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--
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-- # Heuristic Cost
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--
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-- In order to determine the optimal path, the pathfinding algorithm needs to know, how costly it is to go from one node to another.
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-- Often, this can simply be determined by the distance between two nodes. Therefore, the default cost function is set to be the 2D distance between two nodes.
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--
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--
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-- # Calculate the Path
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--
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-- Finally, we have to calculate the path. This is done by the @{ASTAR.GetPath}(*ExcludeStart, ExcludeEnd*) function. This function returns a table of nodes, which
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-- describe the optimal path from the start node to the end node.
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--
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-- By default, the start and end node are include in the table that is returned.
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--
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-- Note that a valid path must not always exist. So you should check if the function returns *nil*.
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--
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-- Common reasons that a path cannot be found are:
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--
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-- * The grid is too small ==> increase grid size, e.g. *BoxHY* and/or *SpaceX* if you use a rectangular grid.
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-- * The grid spacing is too large ==> decrease *deltaX* and/or *deltaY*
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-- * There simply is no valid path ==> you are screwed :(
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--
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--
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-- # Examples
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--
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-- ## Strait of Hormuz
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--
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-- Carrier Group finds its way through the Stait of Hormuz.
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--
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-- ##
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--
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--
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--
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-- @field #ASTAR
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ASTAR = {
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ClassName = "ASTAR",
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Debug = nil,
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lid = nil,
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nodes = {},
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counter = 1,
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}
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--- Node data.
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-- @type ASTAR.Node
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-- @field #number id Node id.
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-- @field Core.Point#COORDINATE coordinate Coordinate of the node.
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-- @field #number surfacetype Surface type.
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-- @field #table valid Cached valid/invalid nodes.
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-- @field #table cost Cached cost.
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--- ASTAR infinity.
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-- @field #number INF
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ASTAR.INF=1/0
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--- ASTAR class version.
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-- @field #string version
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ASTAR.version="0.3.0"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO: Add more valid neighbour functions.
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-- TODO: Write docs.
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Constructor
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Create a new ASTAR object.
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-- @param #ASTAR self
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-- @return #ASTAR self
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function ASTAR:New()
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-- Inherit everything from INTEL class.
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local self=BASE:Inherit(self, BASE:New()) --#ASTAR
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self.lid="ASTAR | "
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return self
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- User functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Set coordinate from where to start.
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-- @param #ASTAR self
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-- @param Core.Point#COORDINATE Coordinate Start coordinate.
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-- @return #ASTAR self
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function ASTAR:SetStartCoordinate(Coordinate)
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self.startCoord=Coordinate
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return self
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end
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--- Set coordinate where you want to go.
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-- @param #ASTAR self
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-- @param Core.Point#COORDINATE Coordinate end coordinate.
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-- @return #ASTAR self
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function ASTAR:SetEndCoordinate(Coordinate)
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self.endCoord=Coordinate
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return self
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end
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--- Create a node from a given coordinate.
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-- @param #ASTAR self
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-- @param Core.Point#COORDINATE Coordinate The coordinate where to create the node.
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-- @return #ASTAR.Node The node.
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function ASTAR:GetNodeFromCoordinate(Coordinate)
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local node={} --#ASTAR.Node
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node.coordinate=Coordinate
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node.surfacetype=Coordinate:GetSurfaceType()
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node.id=self.counter
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node.valid={}
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node.cost={}
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self.counter=self.counter+1
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return node
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end
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--- Add a node to the table of grid nodes.
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-- @param #ASTAR self
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-- @param #ASTAR.Node Node The node to be added.
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-- @return #ASTAR self
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function ASTAR:AddNode(Node)
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table.insert(self.nodes, Node)
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return self
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end
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--- Add a node to the table of grid nodes specifying its coordinate.
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-- @param #ASTAR self
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-- @param Core.Point#COORDINATE Coordinate The coordinate where the node is created.
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-- @return #ASTAR.Node The node.
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function ASTAR:AddNodeFromCoordinate(Coordinate)
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local node=self:GetNodeFromCoordinate(Coordinate)
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self:AddNode(node)
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return node
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end
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--- Check if the coordinate of a node has is at a valid surface type.
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-- @param #ASTAR self
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-- @param #ASTAR.Node Node The node to be added.
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-- @param #table SurfaceTypes Surface types, for example `{land.SurfaceType.WATER}`. By default all surface types are valid.
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-- @return #boolean If true, surface type of node is valid.
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function ASTAR:CheckValidSurfaceType(Node, SurfaceTypes)
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if SurfaceTypes then
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if type(SurfaceTypes)~="table" then
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SurfaceTypes={SurfaceTypes}
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end
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for _,surface in pairs(SurfaceTypes) do
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if surface==Node.surfacetype then
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return true
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end
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end
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return false
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else
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return true
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end
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end
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--- Add a function to determine if a neighbour of a node is valid.
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-- @param #ASTAR self
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-- @param #function NeighbourFunction Function that needs to return *true* for a neighbour to be valid.
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-- @param ... Condition function arguments if any.
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-- @return #ASTAR self
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function ASTAR:SetValidNeighbourFunction(NeighbourFunction, ...)
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self.ValidNeighbourFunc=NeighbourFunction
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self.ValidNeighbourArg={}
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if arg then
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self.ValidNeighbourArg=arg
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end
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return self
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end
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--- Set valid neighbours to require line of sight between two nodes.
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-- @param #ASTAR self
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-- @param #number CorridorWidth Width of LoS corridor in meters.
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-- @return #ASTAR self
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function ASTAR:SetValidNeighbourLoS(CorridorWidth)
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self:SetValidNeighbourFunction(ASTAR.LoS, CorridorWidth)
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return self
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end
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--- Set valid neighbours to be in a certain distance.
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-- @param #ASTAR self
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-- @param #number MaxDistance Max distance between nodes in meters. Default is 2000 m.
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-- @return #ASTAR self
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function ASTAR:SetValidNeighbourDistance(MaxDistance)
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self:SetValidNeighbourFunction(ASTAR.DistMax, MaxDistance)
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return self
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end
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--- Set the function which calculates the "cost" to go from one to another node.
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-- The first to arguments of this function are always the two nodes under consideration. But you can add optional arguments.
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-- Very often the distance between nodes is a good measure for the cost.
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-- @param #ASTAR self
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-- @param #function CostFunction Function that returns the "cost".
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-- @param ... Condition function arguments if any.
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-- @return #ASTAR self
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function ASTAR:SetCostFunction(CostFunction, ...)
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self.CostFunc=CostFunction
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self.CostArg={}
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if arg then
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self.CostArg=arg
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end
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return self
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end
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--- Set heuristic cost to go from one node to another to be their 2D distance.
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-- @param #ASTAR self
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-- @return #ASTAR self
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function ASTAR:SetCostDist2D()
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self:SetCostFunction(ASTAR.Dist2D)
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return self
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end
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--- Set heuristic cost to go from one node to another to be their 3D distance.
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-- @param #ASTAR self
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-- @return #ASTAR self
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function ASTAR:SetCostDist3D()
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self:SetCostFunction(ASTAR.Dist3D)
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return self
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Grid functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Create a rectangular grid of nodes between star and end coordinate.
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-- The coordinate system is oriented along the line between start and end point.
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-- @param #ASTAR self
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-- @param #table ValidSurfaceTypes Valid surface types. By default is all surfaces are allowed.
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-- @param #number BoxHY Box "height" in meters along the y-coordinate. Default 40000 meters (40 km).
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-- @param #number SpaceX Additional space in meters before start and after end coordinate. Default 10000 meters (10 km).
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-- @param #number deltaX Increment in the direction of start to end coordinate in meters. Default 2000 meters.
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-- @param #number deltaY Increment perpendicular to the direction of start to end coordinate in meters. Default is same as deltaX.
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-- @param #boolean MarkGrid If true, create F10 map markers at grid nodes.
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-- @return #ASTAR self
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function ASTAR:CreateGrid(ValidSurfaceTypes, BoxHY, SpaceX, deltaX, deltaY, MarkGrid)
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-- Note that internally
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-- x coordinate is z: x-->z Line from start to end
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-- y coordinate is x: y-->x Perpendicular
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-- Grid length and width.
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local Dz=SpaceX or 10000
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local Dx=BoxHY and BoxHY/2 or 20000
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-- Increments.
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local dz=deltaX or 2000
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local dx=deltaY or dz
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-- Heading from start to end coordinate.
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local angle=self.startCoord:HeadingTo(self.endCoord)
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--Distance between start and end.
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local dist=self.startCoord:Get2DDistance(self.endCoord)+2*Dz
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-- Origin of map. Needed to translate back to wanted position.
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local co=COORDINATE:New(0, 0, 0)
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local do1=co:Get2DDistance(self.startCoord)
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local ho1=co:HeadingTo(self.startCoord)
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-- Start of grid.
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local xmin=-Dx
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local zmin=-Dz
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-- Number of grid points.
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local nz=dist/dz+1
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|
||||||
local nx=2*Dx/dx+1
|
|
||||||
|
|
||||||
-- Debug info.
|
|
||||||
local text=string.format("Building grid with nx=%d ny=%d => total=%d nodes", nx, nz, nx*nz)
|
|
||||||
self:I(self.lid..text)
|
|
||||||
MESSAGE:New(text, 10, "ASTAR"):ToAllIf(self.Debug)
|
|
||||||
|
|
||||||
|
|
||||||
-- Loop over x and z coordinate to create a 2D grid.
|
|
||||||
for i=1,nx do
|
|
||||||
|
|
||||||
-- x coordinate perpendicular to z.
|
|
||||||
local x=xmin+dx*(i-1)
|
|
||||||
|
|
||||||
for j=1,nz do
|
|
||||||
|
|
||||||
-- z coordinate connecting start and end.
|
|
||||||
local z=zmin+dz*(j-1)
|
|
||||||
|
|
||||||
-- Rotate 2D.
|
|
||||||
local vec3=UTILS.Rotate2D({x=x, y=0, z=z}, angle)
|
|
||||||
|
|
||||||
-- Coordinate of the node.
|
|
||||||
local c=COORDINATE:New(vec3.z, vec3.y, vec3.x):Translate(do1, ho1, true)
|
|
||||||
|
|
||||||
-- Create a node at this coordinate.
|
|
||||||
local node=self:GetNodeFromCoordinate(c)
|
|
||||||
|
|
||||||
-- Check if node has valid surface type.
|
|
||||||
if self:CheckValidSurfaceType(node, ValidSurfaceTypes) then
|
|
||||||
|
|
||||||
if MarkGrid then
|
|
||||||
c:MarkToAll(string.format("i=%d, j=%d surface=%d", i, j, node.surfacetype))
|
|
||||||
end
|
|
||||||
|
|
||||||
-- Add node to grid.
|
|
||||||
self:AddNode(node)
|
|
||||||
|
|
||||||
end
|
|
||||||
|
|
||||||
end
|
|
||||||
end
|
|
||||||
|
|
||||||
-- Debug info.
|
|
||||||
local text=string.format("Done building grid!")
|
|
||||||
self:I(self.lid..text)
|
|
||||||
MESSAGE:New(text, 10, "ASTAR"):ToAllIf(self.Debug)
|
|
||||||
|
|
||||||
return self
|
|
||||||
end
|
|
||||||
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
-- Valid neighbour functions
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
|
|
||||||
--- Function to check if two nodes have line of sight (LoS).
|
|
||||||
-- @param #ASTAR.Node nodeA First node.
|
|
||||||
-- @param #ASTAR.Node nodeB Other node.
|
|
||||||
-- @param #number corridor (Optional) Width of corridor in meters.
|
|
||||||
-- @return #boolean If true, two nodes have LoS.
|
|
||||||
function ASTAR.LoS(nodeA, nodeB, corridor)
|
|
||||||
|
|
||||||
local offset=0.1
|
|
||||||
|
|
||||||
local dx=corridor and corridor/2 or nil
|
|
||||||
local dy=dx
|
|
||||||
|
|
||||||
local cA=nodeA.coordinate:GetVec3()
|
|
||||||
local cB=nodeB.coordinate:GetVec3()
|
|
||||||
cA.y=offset
|
|
||||||
cB.y=offset
|
|
||||||
|
|
||||||
local los=land.isVisible(cA, cB)
|
|
||||||
|
|
||||||
if los and corridor then
|
|
||||||
|
|
||||||
-- Heading from A to B.
|
|
||||||
local heading=nodeA.coordinate:HeadingTo(nodeB.coordinate)
|
|
||||||
|
|
||||||
local Ap=UTILS.VecTranslate(cA, dx, heading+90)
|
|
||||||
local Bp=UTILS.VecTranslate(cB, dx, heading+90)
|
|
||||||
|
|
||||||
los=land.isVisible(Ap, Bp) --Ap:IsLOS(Bp, offset)
|
|
||||||
|
|
||||||
if los then
|
|
||||||
|
|
||||||
local Am=UTILS.VecTranslate(cA, dx, heading-90)
|
|
||||||
local Bm=UTILS.VecTranslate(cB, dx, heading-90)
|
|
||||||
|
|
||||||
los=land.isVisible(Am, Bm)
|
|
||||||
end
|
|
||||||
|
|
||||||
end
|
|
||||||
|
|
||||||
return los
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Function to check if two nodes have line of sight (LoS).
|
|
||||||
-- @param #ASTAR.Node nodeA First node.
|
|
||||||
-- @param #ASTAR.Node nodeB Other node.
|
|
||||||
-- @param #number distmax Max distance in meters. Default is 2000 m.
|
|
||||||
-- @return #boolean If true, distance between the two nodes is below threshold.
|
|
||||||
function ASTAR.DistMax(nodeA, nodeB, distmax)
|
|
||||||
|
|
||||||
distmax=distmax or 2000
|
|
||||||
|
|
||||||
local dist=nodeA.coordinate:Get2DDistance(nodeB.coordinate)
|
|
||||||
|
|
||||||
return dist<=distmax
|
|
||||||
end
|
|
||||||
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
-- Heuristic cost functions
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
|
|
||||||
--- Heuristic cost is given by the 2D distance between the nodes.
|
|
||||||
-- @param #ASTAR.Node nodeA First node.
|
|
||||||
-- @param #ASTAR.Node nodeB Other node.
|
|
||||||
-- @return #number Distance between the two nodes.
|
|
||||||
function ASTAR.Dist2D(nodeA, nodeB)
|
|
||||||
return nodeA.coordinate:Get2DDistance(nodeB)
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Heuristic cost is given by the 3D distance between the nodes.
|
|
||||||
-- @param #ASTAR.Node nodeA First node.
|
|
||||||
-- @param #ASTAR.Node nodeB Other node.
|
|
||||||
-- @return #number Distance between the two nodes.
|
|
||||||
function ASTAR.Dist3D(nodeA, nodeB)
|
|
||||||
return nodeA.coordinate:Get3DDistance(nodeB.coordinate)
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Heuristic cost is given by the distance between the nodes on road.
|
|
||||||
-- @param #ASTAR.Node nodeA First node.
|
|
||||||
-- @param #ASTAR.Node nodeB Other node.
|
|
||||||
-- @return #number Distance between the two nodes.
|
|
||||||
function ASTAR.DistRoad(nodeA, nodeB)
|
|
||||||
|
|
||||||
local path,dist,gotpath=nodeA.coordinate:GetPathOnRoad(nodeB.coordinate,IncludeEndpoints,Railroad,MarkPath,SmokePath)
|
|
||||||
|
|
||||||
if gotpath then
|
|
||||||
return dist
|
|
||||||
else
|
|
||||||
return math.huge
|
|
||||||
end
|
|
||||||
|
|
||||||
return nodeA.coordinate:Get3DDistance(nodeB.coordinate)
|
|
||||||
end
|
|
||||||
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
-- Misc functions
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
|
|
||||||
|
|
||||||
--- Find the closest node from a given coordinate.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param Core.Point#COORDINATE Coordinate.
|
|
||||||
-- @return #ASTAR.Node Cloest node to the coordinate.
|
|
||||||
-- @return #number Distance to closest node in meters.
|
|
||||||
function ASTAR:FindClosestNode(Coordinate)
|
|
||||||
|
|
||||||
local distMin=math.huge
|
|
||||||
local closeNode=nil
|
|
||||||
|
|
||||||
for _,_node in pairs(self.nodes) do
|
|
||||||
local node=_node --#ASTAR.Node
|
|
||||||
|
|
||||||
local dist=node.coordinate:Get2DDistance(Coordinate)
|
|
||||||
|
|
||||||
if dist<distMin then
|
|
||||||
distMin=dist
|
|
||||||
closeNode=node
|
|
||||||
end
|
|
||||||
|
|
||||||
end
|
|
||||||
|
|
||||||
return closeNode, distMin
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Find the start node.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #ASTAR.Node Node The node to be added to the nodes table.
|
|
||||||
-- @return #ASTAR self
|
|
||||||
function ASTAR:FindStartNode()
|
|
||||||
|
|
||||||
local node, dist=self:FindClosestNode(self.startCoord)
|
|
||||||
|
|
||||||
self.startNode=node
|
|
||||||
|
|
||||||
if dist>1000 then
|
|
||||||
self:I(self.lid.."Adding start node to node grid!")
|
|
||||||
self:AddNode(node)
|
|
||||||
end
|
|
||||||
|
|
||||||
return self
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Add a node.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #ASTAR.Node Node The node to be added to the nodes table.
|
|
||||||
-- @return #ASTAR self
|
|
||||||
function ASTAR:FindEndNode()
|
|
||||||
|
|
||||||
local node, dist=self:FindClosestNode(self.endCoord)
|
|
||||||
|
|
||||||
self.endNode=node
|
|
||||||
|
|
||||||
if dist>1000 then
|
|
||||||
self:I(self.lid.."Adding end node to node grid!")
|
|
||||||
self:AddNode(node)
|
|
||||||
end
|
|
||||||
|
|
||||||
return self
|
|
||||||
end
|
|
||||||
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
-- Main A* pathfinding function
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
|
|
||||||
--- A* pathfinding function. This seaches the path along nodes between start and end nodes/coordinates.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #boolean ExcludeStartNode If *true*, do not include start node in found path. Default is to include it.
|
|
||||||
-- @param #boolean ExcludeEndNode If *true*, do not include end node in found path. Default is to include it.
|
|
||||||
-- @return #table Table of nodes from start to finish.
|
|
||||||
function ASTAR:GetPath(ExcludeStartNode, ExcludeEndNode)
|
|
||||||
|
|
||||||
self:FindStartNode()
|
|
||||||
self:FindEndNode()
|
|
||||||
|
|
||||||
local nodes=self.nodes
|
|
||||||
local start=self.startNode
|
|
||||||
local goal=self.endNode
|
|
||||||
|
|
||||||
local closedset = {}
|
|
||||||
local openset = { start }
|
|
||||||
local came_from = {}
|
|
||||||
|
|
||||||
local g_score, f_score = {}, {}
|
|
||||||
|
|
||||||
g_score[start]=0
|
|
||||||
f_score[start]=g_score[start]+self:_HeuristicCost(start, goal)
|
|
||||||
|
|
||||||
-- Set start time.
|
|
||||||
local T0=timer.getAbsTime()
|
|
||||||
|
|
||||||
-- Debug message.
|
|
||||||
local text=string.format("Starting A* pathfinding")
|
|
||||||
self:I(self.lid..text)
|
|
||||||
MESSAGE:New(text, 10, "ASTAR"):ToAllIf(self.Debug)
|
|
||||||
|
|
||||||
local Tstart=UTILS.GetOSTime()
|
|
||||||
|
|
||||||
while #openset > 0 do
|
|
||||||
|
|
||||||
local current=self:_LowestFscore(openset, f_score)
|
|
||||||
|
|
||||||
-- Check if we are at the end node.
|
|
||||||
if current.id==goal.id then
|
|
||||||
|
|
||||||
local path=self:_UnwindPath({}, came_from, goal)
|
|
||||||
|
|
||||||
if not ExcludeEndNode then
|
|
||||||
table.insert(path, goal)
|
|
||||||
end
|
|
||||||
|
|
||||||
if ExcludeStartNode then
|
|
||||||
table.remove(path, 1)
|
|
||||||
end
|
|
||||||
|
|
||||||
local Tstop=UTILS.GetOSTime()
|
|
||||||
|
|
||||||
local dT=nil
|
|
||||||
if Tstart and Tstop then
|
|
||||||
dT=Tstop-Tstart
|
|
||||||
end
|
|
||||||
|
|
||||||
-- Debug message.
|
|
||||||
local text=string.format("Found path with %d nodes (%d total nodes)", #path, #self.nodes)
|
|
||||||
if dT then
|
|
||||||
text=text..string.format(". OS Time %.6f seconds", dT)
|
|
||||||
end
|
|
||||||
text=text..string.format("\nNvalid = %d %d cached", self.nvalid, self.nvalidcache)
|
|
||||||
text=text..string.format("\nNcost = %d %d cached", self.ncost, self.ncostcache)
|
|
||||||
self:I(self.lid..text)
|
|
||||||
MESSAGE:New(text, 60, "ASTAR"):ToAllIf(self.Debug)
|
|
||||||
|
|
||||||
return path
|
|
||||||
end
|
|
||||||
|
|
||||||
self:_RemoveNode(openset, current)
|
|
||||||
table.insert(closedset, current)
|
|
||||||
|
|
||||||
local neighbors=self:_NeighbourNodes(current, nodes)
|
|
||||||
|
|
||||||
-- Loop over neighbours.
|
|
||||||
for _,neighbor in ipairs(neighbors) do
|
|
||||||
|
|
||||||
if self:_NotIn(closedset, neighbor) then
|
|
||||||
|
|
||||||
local tentative_g_score=g_score[current]+self:_DistNodes(current, neighbor)
|
|
||||||
|
|
||||||
if self:_NotIn(openset, neighbor) or tentative_g_score < g_score[neighbor] then
|
|
||||||
|
|
||||||
came_from[neighbor]=current
|
|
||||||
|
|
||||||
g_score[neighbor]=tentative_g_score
|
|
||||||
f_score[neighbor]=g_score[neighbor]+self:_HeuristicCost(neighbor, goal)
|
|
||||||
|
|
||||||
if self:_NotIn(openset, neighbor) then
|
|
||||||
table.insert(openset, neighbor)
|
|
||||||
end
|
|
||||||
|
|
||||||
end
|
|
||||||
end
|
|
||||||
end
|
|
||||||
end
|
|
||||||
|
|
||||||
-- Debug message.
|
|
||||||
local text=string.format("WARNING: Could NOT find valid path!")
|
|
||||||
self:E(self.lid..text)
|
|
||||||
MESSAGE:New(text, 60, "ASTAR"):ToAllIf(self.Debug)
|
|
||||||
|
|
||||||
return nil -- no valid path
|
|
||||||
end
|
|
||||||
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
-- A* pathfinding helper functions
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
|
|
||||||
--- Heuristic "cost" function to go from node A to node B. Default is the distance between the nodes.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #ASTAR.Node nodeA Node A.
|
|
||||||
-- @param #ASTAR.Node nodeB Node B.
|
|
||||||
-- @return #number "Cost" to go from node A to node B.
|
|
||||||
function ASTAR:_HeuristicCost(nodeA, nodeB)
|
|
||||||
|
|
||||||
if self.ncost then
|
|
||||||
self.ncost=self.ncost+1
|
|
||||||
else
|
|
||||||
self.ncost=1
|
|
||||||
end
|
|
||||||
|
|
||||||
-- Get chached cost if available.
|
|
||||||
local cost=nodeA.cost[nodeB.id]
|
|
||||||
if cost~=nil then
|
|
||||||
if self.ncostcache then
|
|
||||||
self.ncostcache=self.ncostcache+1
|
|
||||||
else
|
|
||||||
self.ncostcache=1
|
|
||||||
end
|
|
||||||
return cost
|
|
||||||
end
|
|
||||||
|
|
||||||
local cost=nil
|
|
||||||
if self.CostFunc then
|
|
||||||
cost=self.CostFunc(nodeA, nodeB, unpack(self.CostArg))
|
|
||||||
else
|
|
||||||
cost=self:_DistNodes(nodeA, nodeB)
|
|
||||||
end
|
|
||||||
|
|
||||||
nodeA.cost[nodeB.id]=cost
|
|
||||||
nodeB.cost[nodeA.id]=cost -- Symmetric problem.
|
|
||||||
|
|
||||||
return cost
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Check if going from a node to a neighbour is possible.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #ASTAR.Node node A node.
|
|
||||||
-- @param #ASTAR.Node neighbor Neighbour node.
|
|
||||||
-- @return #boolean If true, transition between nodes is possible.
|
|
||||||
function ASTAR:_IsValidNeighbour(node, neighbor)
|
|
||||||
|
|
||||||
if self.nvalid then
|
|
||||||
self.nvalid=self.nvalid+1
|
|
||||||
else
|
|
||||||
self.nvalid=1
|
|
||||||
end
|
|
||||||
|
|
||||||
local valid=node.valid[neighbor.id]
|
|
||||||
if valid~=nil then
|
|
||||||
--env.info(string.format("Node %d has valid=%s neighbour %d", node.id, tostring(valid), neighbor.id))
|
|
||||||
if self.nvalidcache then
|
|
||||||
self.nvalidcache=self.nvalidcache+1
|
|
||||||
else
|
|
||||||
self.nvalidcache=1
|
|
||||||
end
|
|
||||||
return valid
|
|
||||||
end
|
|
||||||
|
|
||||||
local valid=nil
|
|
||||||
if self.ValidNeighbourFunc then
|
|
||||||
valid=self.ValidNeighbourFunc(node, neighbor, unpack(self.ValidNeighbourArg))
|
|
||||||
else
|
|
||||||
valid=true
|
|
||||||
end
|
|
||||||
|
|
||||||
node.valid[neighbor.id]=valid
|
|
||||||
neighbor.valid[node.id]=valid -- Symmetric problem.
|
|
||||||
|
|
||||||
return valid
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Calculate 2D distance between two nodes.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #ASTAR.Node nodeA Node A.
|
|
||||||
-- @param #ASTAR.Node nodeB Node B.
|
|
||||||
-- @return #number Distance between nodes in meters.
|
|
||||||
function ASTAR:_DistNodes(nodeA, nodeB)
|
|
||||||
return nodeA.coordinate:Get2DDistance(nodeB.coordinate)
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Function that calculates the lowest F score.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #table set The set of nodes.
|
|
||||||
-- @param #number f_score F score.
|
|
||||||
-- @return #ASTAR.Node Best node.
|
|
||||||
function ASTAR:_LowestFscore2(set, f_score)
|
|
||||||
|
|
||||||
local lowest, bestNode = ASTAR.INF, nil
|
|
||||||
|
|
||||||
for _, node in ipairs ( set ) do
|
|
||||||
|
|
||||||
local score = f_score [ node ]
|
|
||||||
|
|
||||||
if score < lowest then
|
|
||||||
lowest, bestNode = score, node
|
|
||||||
end
|
|
||||||
end
|
|
||||||
|
|
||||||
return bestNode
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Function that calculates the lowest F score.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #table set The set of nodes.
|
|
||||||
-- @param #number f_score F score.
|
|
||||||
-- @return #ASTAR.Node Best node.
|
|
||||||
function ASTAR:_LowestFscore(set, f_score)
|
|
||||||
|
|
||||||
local function sort(A, B)
|
|
||||||
local a=A --#ASTAR.Node
|
|
||||||
local b=B --#ASTAR.Node
|
|
||||||
return f_score[a]<f_score[b]
|
|
||||||
end
|
|
||||||
|
|
||||||
table.sort(set, sort)
|
|
||||||
|
|
||||||
return set[1]
|
|
||||||
end
|
|
||||||
|
|
||||||
|
|
||||||
--- Function to get valid neighbours of a node.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #ASTAR.Node theNode The node.
|
|
||||||
-- @param #table nodes Possible neighbours.
|
|
||||||
-- @param #table Valid neighbour nodes.
|
|
||||||
function ASTAR:_NeighbourNodes(theNode, nodes)
|
|
||||||
|
|
||||||
local neighbors = {}
|
|
||||||
for _, node in pairs ( nodes ) do
|
|
||||||
|
|
||||||
if theNode.id~=node.id then
|
|
||||||
|
|
||||||
local isvalid=self:_IsValidNeighbour(theNode, node)
|
|
||||||
|
|
||||||
if isvalid then
|
|
||||||
table.insert(neighbors, node)
|
|
||||||
end
|
|
||||||
|
|
||||||
end
|
|
||||||
|
|
||||||
end
|
|
||||||
|
|
||||||
return neighbors
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Function to check if a node is not in a set.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #table set Set of nodes.
|
|
||||||
-- @param #ASTAR.Node theNode The node to check.
|
|
||||||
-- @return #boolean If true, the node is not in the set.
|
|
||||||
function ASTAR:_NotIn(set, theNode)
|
|
||||||
|
|
||||||
for _, node in pairs ( set ) do
|
|
||||||
if node.id == theNode.id then
|
|
||||||
return false
|
|
||||||
end
|
|
||||||
end
|
|
||||||
|
|
||||||
return true
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Function to remove a node from a set.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #table set Set of nodes.
|
|
||||||
-- @param #ASTAR.Node theNode The node to check.
|
|
||||||
function ASTAR:_RemoveNode(set, theNode)
|
|
||||||
|
|
||||||
for i, node in pairs ( set ) do
|
|
||||||
if node.id == theNode.id then
|
|
||||||
--table.remove(set, i)
|
|
||||||
set [ i ] = set [ #set ]
|
|
||||||
set [ #set ] = nil
|
|
||||||
break
|
|
||||||
end
|
|
||||||
end
|
|
||||||
|
|
||||||
end
|
|
||||||
|
|
||||||
--- Unwind path function.
|
|
||||||
-- @param #ASTAR self
|
|
||||||
-- @param #table flat_path Flat path.
|
|
||||||
-- @param #table map Map.
|
|
||||||
-- @param #ASTAR.Node current_node The current node.
|
|
||||||
-- @return #table Unwinded path.
|
|
||||||
function ASTAR:_UnwindPath( flat_path, map, current_node )
|
|
||||||
|
|
||||||
if map [ current_node ] then
|
|
||||||
table.insert ( flat_path, 1, map [ current_node ] )
|
|
||||||
return self:_UnwindPath ( flat_path, map, map [ current_node ] )
|
|
||||||
else
|
|
||||||
return flat_path
|
|
||||||
end
|
|
||||||
end
|
|
||||||
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
|
|
||||||
Loading…
x
Reference in New Issue
Block a user