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proxy + pathfinding optimization

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kepler155c@gmail.com
2017-10-26 18:56:55 -04:00
parent 7fd93e8a8b
commit cac15722b8
15 changed files with 174 additions and 1271 deletions
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41
sys/apis/jumper/search/astar.lua
View File

@@ -5,16 +5,14 @@
if (...) then
-- Internalization
local ipairs = ipairs
local huge = math.huge
-- Dependancies
local _PATH = (...):match('(.+)%.search.astar$')
local Heuristics = require (_PATH .. '.core.heuristics')
local Heap = require (_PATH.. '.core.bheap')
-- Updates G-cost
local function computeCost(node, neighbour, finder, clearance, heuristic)
local function computeCost(node, neighbour, heuristic)
local mCost, heading = heuristic(neighbour, node) -- Heuristics.EUCLIDIAN(neighbour, node)
if node._g + mCost < neighbour._g then
@@ -25,31 +23,24 @@ if (...) then
end
-- Updates vertex node-neighbour
local function updateVertex(finder, openList, node, neighbour, endNode, clearance, heuristic, overrideCostEval)
local function updateVertex(openList, node, neighbour, endNode, heuristic)
local oldG = neighbour._g
local cmpCost = overrideCostEval or computeCost
cmpCost(node, neighbour, finder, clearance, heuristic)
computeCost(node, neighbour, heuristic)
if neighbour._g < oldG then
local nClearance = neighbour._clearance[finder._walkable]
local pushThisNode = clearance and nClearance and (nClearance >= clearance)
if (clearance and pushThisNode) or (not clearance) then
if neighbour._opened then neighbour._opened = false end
neighbour._h = heuristic(endNode, neighbour)
neighbour._f = neighbour._g + neighbour._h
openList:push(neighbour)
neighbour._opened = true
end
if neighbour._opened then neighbour._opened = false end
neighbour._h = heuristic(endNode, neighbour)
neighbour._f = neighbour._g + neighbour._h
openList:push(neighbour)
neighbour._opened = true
end
end
-- Calculates a path.
-- Returns the path from location `<startX, startY>` to location `<endX, endY>`.
return function (finder, startNode, endNode, clearance, toClear, overrideHeuristic, overrideCostEval)
local heuristic = overrideHeuristic or finder._heuristic
return function (finder, startNode, endNode, toClear)
local openList = Heap()
startNode._g = 0
startNode._h = heuristic(endNode, startNode)
startNode._h = finder._heuristic(endNode, startNode)
startNode._f = startNode._g + startNode._h
openList:push(startNode)
toClear[startNode] = true
@@ -59,17 +50,17 @@ if (...) then
local node = openList:pop()
node._closed = true
if node == endNode then return node end
local neighbours = finder._grid:getNeighbours(node, finder._walkable, finder._allowDiagonal, finder._tunnel)
local neighbours = finder._grid:getNeighbours(node)
for i = 1,#neighbours do
local neighbour = neighbours[i]
if not neighbour._closed then
toClear[neighbour] = true
if not neighbour._opened then
neighbour._g = huge
neighbour._parent = nil
neighbour._parent = nil
end
updateVertex(finder, openList, node, neighbour, endNode, clearance, heuristic, overrideCostEval)
end
updateVertex(openList, node, neighbour, endNode, finder._heuristic)
end
end
--[[
@@ -81,8 +72,6 @@ if (...) then
--]]
end
return nil
return nil
end
end

46
sys/apis/jumper/search/bfs.lua
View File

@@ -1,46 +0,0 @@
-- Breadth-First search algorithm
if (...) then
-- Internalization
local t_remove = table.remove
local function breadth_first_search(finder, openList, node, endNode, clearance, toClear)
local neighbours = finder._grid:getNeighbours(node, finder._walkable, finder._allowDiagonal, finder._tunnel)
for i = 1,#neighbours do
local neighbour = neighbours[i]
if not neighbour._closed and not neighbour._opened then
local nClearance = neighbour._clearance[finder._walkable]
local pushThisNode = clearance and nClearance and (nClearance >= clearance)
if (clearance and pushThisNode) or (not clearance) then
openList[#openList+1] = neighbour
neighbour._opened = true
neighbour._parent = node
toClear[neighbour] = true
end
end
end
end
-- Calculates a path.
-- Returns the path from location `<startX, startY>` to location `<endX, endY>`.
return function (finder, startNode, endNode, clearance, toClear)
local openList = {} -- We'll use a FIFO queue (simple array)
openList[1] = startNode
startNode._opened = true
toClear[startNode] = true
local node
while (#openList > 0) do
node = openList[1]
t_remove(openList,1)
node._closed = true
if node == endNode then return node end
breadth_first_search(finder, openList, node, endNode, clearance, toClear)
end
return nil
end
end