mat/azalea
1
2
Fork 0
mirror of https://github.com/mat-1/azalea.git synced 2025-08-02 06:16:04 +00:00
Code Issues Projects Releases Packages Activity

don't save Movement type while pathfinding as an optimization, recalculate it later in reconstruct_path

Browse source
This commit is contained in:
mat 2024-12-27 06:27:16 +00:00
parent 3c3952bb0b
commit 185ed84dbb
1 changed files with 24 additions and 13 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

37
azalea/src/pathfinder/astar.rs
View file

@ -66,11 +66,10 @@ where
f_score: 0.,
index: 0,
});
let mut nodes: FxIndexMap<P, Node<M>> = IndexMap::default();
let mut nodes: FxIndexMap<P, Node> = IndexMap::default();
nodes.insert(
start,
Node {
movement_data: None,
came_from: usize::MAX,
g_score: 0.,
},
@ -89,7 +88,7 @@ where
debug!("Nodes considered: {num_nodes}");
return Path {
movements: reconstruct_path(nodes, index),
movements: reconstruct_path(nodes, index, successors),
is_partial: false,
};
}
@ -115,7 +114,6 @@ where
neighbor_heuristic = heuristic(*e.key());
neighbor_index = e.index();
e.insert(Node {
movement_data: Some(neighbor.movement.data),
came_from: index,
g_score: tentative_g_score,
});
@ -127,7 +125,6 @@ where
neighbor_heuristic = heuristic(*e.key());
neighbor_index = e.index();
e.insert(Node {
movement_data: Some(neighbor.movement.data),
came_from: index,
g_score: tentative_g_score,
});
@ -189,7 +186,7 @@ where
);
Path {
movements: reconstruct_path(nodes, best_path),
movements: reconstruct_path(nodes, best_path, successors),
is_partial: true,
}
}
@ -206,32 +203,46 @@ fn determine_best_path(best_paths: [usize; 7], start: usize) -> usize {
best_paths[0]
}
fn reconstruct_path<P, M>(
mut nodes: FxIndexMap<P, Node<M>>,
fn reconstruct_path<P, M, SuccessorsFn>(
nodes: FxIndexMap<P, Node>,
mut current_index: usize,
mut successors: SuccessorsFn,
) -> Vec<Movement<P, M>>
where
P: Eq + Hash + Copy + Debug,
SuccessorsFn: FnMut(P) -> Vec<Edge<P, M>>,
{
let mut path = Vec::new();
while let Some((&node_position, node)) = nodes.get_index_mut(current_index) {
while let Some((&node_position, node)) = nodes.get_index(current_index) {
if node.came_from == usize::MAX {
break;
}
let came_from_position = *nodes.get_index(node.came_from).unwrap().0;
current_index = node.came_from;
// find the movement data for this successor, we have to do this again because
// we don't include the movement data in the Node (as an optimization)
let mut best_successor = None;
let mut best_successor_cost = f32::INFINITY;
for successor in successors(came_from_position) {
if successor.movement.target == node_position && successor.cost < best_successor_cost {
best_successor_cost = successor.cost;
best_successor = Some(successor);
}
}
let found_successor = best_successor.expect("No successor found");
path.push(Movement {
target: node_position,
data: node.movement_data.take().unwrap(),
data: found_successor.movement.data,
});
current_index = node.came_from;
}
path.reverse();
path
}
pub struct Node<M> {
pub movement_data: Option<M>,
pub struct Node {
pub came_from: usize,
pub g_score: f32,
}