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refactor: submap - don't add middle points, unified findPath fn

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Azgaar 2024-11-11 13:28:38 +01:00
parent 3d79a527e2
commit 41a710302b
8 changed files with 103 additions and 238 deletions
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46
utils/pathUtils.js
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@ -180,42 +180,36 @@ function connectVertices({vertices, startingVertex, ofSameType, addToChecked, cl
/**
* Finds the shortest path between two cells using a cost-based pathfinding algorithm.
* @param {number} start - The ID of the starting cell.
* @param {number} exit - The ID of the destination cell.
* @param {function} getCellCost - A function that returns the cost of a cell. Should return Infinity for impassable cells.
* @returns {number[]|null} An array of cell IDs of the path from start to exit, or null if no path is found or start and exit are the same.
* @param {(id: number) => boolean} isExit - A function that returns true if the cell is the exit cell.
* @param {(current: number, next: number) => number} getCost - A function that returns the path cost from current cell to the next cell. Must return `Infinity` for impassable connections.
* @returns {number[] | null} An array of cell IDs of the path from start to exit, or null if no path is found or start and exit are the same.
*/
function findPath(start, exit, getCellCost) {
if (start === exit) return null;
function findPath(start, isExit, getCost) {
if (isExit(start)) return null;
const from = [];
const cost = [];
const queue = new FlatQueue();
queue.push(start, 0);
let iteration = 0;
while (queue.length) {
const priority = queue.peekValue();
const next = queue.pop();
iteration++;
console.log(iteration, next);
const currentCost = queue.peekValue();
const current = queue.pop();
for (const neibCellId of pack.cells.c[next]) {
if (neibCellId === exit) {
from[neibCellId] = next;
return restorePath(start, exit, from);
for (const next of pack.cells.c[current]) {
if (isExit(next)) {
from[next] = current;
return restorePath(next, start, from);
}
const cellCost = getCellCost(neibCellId);
if (cellCost === Infinity) continue; // impassable cell
const nextCost = getCost(current, next);
if (nextCost === Infinity) continue; // impassable cell
const totalCost = currentCost + nextCost;
const distanceCost = dist2(pack.cells.p[next], pack.cells.p[neibCellId]);
const totalCost = priority + distanceCost + getCellCost(neibCellId);
if (totalCost >= cost[neibCellId]) continue;
from[neibCellId] = next;
cost[neibCellId] = totalCost;
queue.push(neibCellId, totalCost);
if (totalCost >= cost[next]) continue; // has cheaper path
from[next] = current;
cost[next] = totalCost;
queue.push(next, totalCost);
}
}
@ -223,7 +217,7 @@ function findPath(start, exit, getCellCost) {
}
// supplementary function for findPath
function restorePath(start, exit, from) {
function restorePath(exit, start, from) {
const pathCells = [];
let current = exit;
@ -237,5 +231,5 @@ function restorePath(start, exit, from) {
pathCells.push(current);
return pathCells;
return pathCells.reverse();
}