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A* priority heuristic

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This commit is contained in:
Timo van Veen 2023-10-25 21:07:42 +02:00
parent 57fbe3cb48
commit 29358d2dee
1 changed files with 27 additions and 14 deletions
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41
src/main/java/com/simibubi/create/content/trains/entity/Navigation.java
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@ -18,6 +18,8 @@ import javax.annotation.Nullable;
import com.mojang.logging.LogUtils; import com.mojang.logging.LogUtils;
import com.simibubi.create.content.trains.graph.DiscoveredPath; import com.simibubi.create.content.trains.graph.DiscoveredPath;
import com.simibubi.create.foundation.utility.VecHelper;
import org.apache.commons.lang3.mutable.MutableDouble; import org.apache.commons.lang3.mutable.MutableDouble;
import org.apache.commons.lang3.mutable.MutableObject; import org.apache.commons.lang3.mutable.MutableObject;
@ -443,7 +445,7 @@ public class Navigation {
TrackGraph graph = train.graph; TrackGraph graph = train.graph;
if (graph == null) if (graph == null)
return null; return null;
long startTime = System.nanoTime();
Couple<DiscoveredPath> results = Couple.create(null, null); Couple<DiscoveredPath> results = Couple.create(null, null);
for (boolean forward : Iterate.trueAndFalse) { for (boolean forward : Iterate.trueAndFalse) {
@ -459,7 +461,7 @@ public class Navigation {
: graph.getConnectionsFrom(initialPoint.node2) : graph.getConnectionsFrom(initialPoint.node2)
.get(initialPoint.node1); .get(initialPoint.node1);
search(Double.MAX_VALUE, maxCost, forward, (distance, cost, reachedVia, currentEntry, globalStation) -> { search(Double.MAX_VALUE, maxCost, forward, new Vec3(destination.getBlockEntityPos().getX(), destination.getBlockEntityPos().getY(), destination.getBlockEntityPos().getZ()), (distance, cost, reachedVia, currentEntry, globalStation) -> {
if (globalStation != destination) if (globalStation != destination)
return false; return false;
@ -498,6 +500,10 @@ public class Navigation {
boolean canDriveForward = train.hasForwardConductor() || train.runtime.paused; boolean canDriveForward = train.hasForwardConductor() || train.runtime.paused;
boolean canDriveBackward = train.doubleEnded && train.hasBackwardConductor() || train.runtime.paused; boolean canDriveBackward = train.doubleEnded && train.hasBackwardConductor() || train.runtime.paused;
long endTime = System.nanoTime();
long duration = (endTime - startTime);
LogUtils.getLogger().info("Time taken: " + duration + " nanoseconds");
if (backEmpty || !canDriveBackward) if (backEmpty || !canDriveBackward)
return canDriveForward ? front : null; return canDriveForward ? front : null;
if (frontEmpty || !canDriveForward) if (frontEmpty || !canDriveForward)
@ -517,7 +523,7 @@ public class Navigation {
double minDistance = .75f * (train.speed * train.speed) / (2 * acceleration); double minDistance = .75f * (train.speed * train.speed) / (2 * acceleration);
double maxDistance = Math.max(32, 1.5f * (train.speed * train.speed) / (2 * acceleration)); double maxDistance = Math.max(32, 1.5f * (train.speed * train.speed) / (2 * acceleration));
search(maxDistance, forward, (distance, cost, reachedVia, currentEntry, globalStation) -> { search(maxDistance, forward, null, (distance, cost, reachedVia, currentEntry, globalStation) -> {
if (distance < minDistance) if (distance < minDistance)
return false; return false;
@ -535,15 +541,15 @@ public class Navigation {
return result.getValue(); return result.getValue();
} }
public void search(double maxDistance, boolean forward, StationTest stationTest) { public void search(double maxDistance, boolean forward, Vec3 destinationPos, StationTest stationTest) {
search(maxDistance, -1, forward, stationTest); search(maxDistance, -1, forward, destinationPos, stationTest);
} }
public void search(double maxDistance, double maxCost, boolean forward, StationTest stationTest) { public void search(double maxDistance, double maxCost, boolean forward, Vec3 destinationPos, StationTest stationTest) {
TrackGraph graph = train.graph; TrackGraph graph = train.graph;
if (graph == null) if (graph == null)
return; return;
if(destinationPos != null) LogUtils.getLogger().info(destinationPos.toString());
// Cache the list of track types that the train can travel on // Cache the list of track types that the train can travel on
Set<TrackMaterial.TrackType> validTypes = new HashSet<>(); Set<TrackMaterial.TrackType> validTypes = new HashSet<>();
for (int i = 0; i < train.carriages.size(); i++) { for (int i = 0; i < train.carriages.size(); i++) {
@ -601,9 +607,9 @@ public class Navigation {
double distanceToNode2 = forward ? initialEdge.getLength() - startingPoint.position : startingPoint.position; double distanceToNode2 = forward ? initialEdge.getLength() - startingPoint.position : startingPoint.position;
frontier.add(new FrontierEntry(distanceToNode2, 0, initialNode1, initialNode2, initialEdge)); frontier.add(new FrontierEntry(distanceToNode2, 0, 0, initialNode1, initialNode2, initialEdge));
int signalWeight = Mth.clamp(ticksWaitingForSignal * 2, Train.Penalties.RED_SIGNAL, 200); int signalWeight = Mth.clamp(ticksWaitingForSignal * 2, Train.Penalties.RED_SIGNAL, 200);
int total = 0;
Search: while (!frontier.isEmpty()) { Search: while (!frontier.isEmpty()) {
FrontierEntry entry = frontier.poll(); FrontierEntry entry = frontier.poll();
if (!visited.add(entry.edge)) if (!visited.add(entry.edge))
@ -614,7 +620,7 @@ public class Navigation {
if (distance > maxDistance) if (distance > maxDistance)
continue; continue;
total++;
TrackEdge edge = entry.edge; TrackEdge edge = entry.edge;
TrackNode node1 = entry.node1; TrackNode node1 = entry.node1;
TrackNode node2 = entry.node2; TrackNode node2 = entry.node2;
@ -653,8 +659,11 @@ public class Navigation {
if (presentTrain != null && !isOwnStation) if (presentTrain != null && !isOwnStation)
penalty += Train.Penalties.STATION_WITH_TRAIN; penalty += Train.Penalties.STATION_WITH_TRAIN;
if (station.canApproachFrom(node2) && stationTest.test(distance, distance + penalty, reachedVia, if (station.canApproachFrom(node2) && stationTest.test(distance, distance + penalty, reachedVia,
Pair.of(Couple.create(node1, node2), edge), station)) Pair.of(Couple.create(node1, node2), edge), station)){
// remove brackets after removing this
LogUtils.getLogger().info("Nodes considered: " + total);
return; return;
}
if (!isOwnStation) if (!isOwnStation)
penalty += Train.Penalties.STATION; penalty += Train.Penalties.STATION;
} }
@ -683,9 +692,11 @@ public class Navigation {
TrackNode newNode = target.getKey(); TrackNode newNode = target.getKey();
TrackEdge newEdge = target.getValue(); TrackEdge newEdge = target.getValue();
double newDistance = newEdge.getLength() + distance; double newDistance = newEdge.getLength() + distance;
double straightDist = destinationPos == null ? 0 : newNode.getLocation().getLocation().distanceTo(destinationPos);
LogUtils.getLogger().info("straight: " + straightDist + " | dist: " + newDistance + " | new: " + newNode.getLocation().getLocation().toString() + " | " + (straightDist + newDistance));
int newPenalty = penalty; int newPenalty = penalty;
reachedVia.putIfAbsent(newEdge, Pair.of(validTargets.size() > 1, Couple.create(node1, node2))); reachedVia.putIfAbsent(newEdge, Pair.of(validTargets.size() > 1, Couple.create(node1, node2)));
frontier.add(new FrontierEntry(newDistance, newPenalty, node2, newNode, newEdge)); frontier.add(new FrontierEntry(newDistance, newPenalty, straightDist, node2, newNode, newEdge));
} }
} }
} }
@ -694,13 +705,15 @@ public class Navigation {
double distance; double distance;
int penalty; int penalty;
double straight;
TrackNode node1; TrackNode node1;
TrackNode node2; TrackNode node2;
TrackEdge edge; TrackEdge edge;
public FrontierEntry(double distance, int penalty, TrackNode node1, TrackNode node2, TrackEdge edge) { public FrontierEntry(double distance, int penalty, double straight, TrackNode node1, TrackNode node2, TrackEdge edge) {
this.distance = distance; this.distance = distance;
this.penalty = penalty; this.penalty = penalty;
this.straight = straight;
this.node1 = node1; this.node1 = node1;
this.node2 = node2; this.node2 = node2;
this.edge = edge; this.edge = edge;
@ -708,7 +721,7 @@ public class Navigation {
@Override @Override
public int compareTo(FrontierEntry o) { public int compareTo(FrontierEntry o) {
return Double.compare(distance + penalty, o.distance + o.penalty); return Double.compare(distance + penalty + straight, o.distance + o.penalty + o.straight);
} }
} }