mirror of https://codeberg.org/topola/topola.git
feat(planar-incr-embed): make PmgAstar's evaluate_navmesh interface way more ergonomic
This commit is contained in:
Ellen Emilia Anna Zscheile
parent
bb1cfc76d9
commit
3a2c9deff0
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@ -7,6 +7,7 @@
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use crate::{
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algo::{Goal, PreparedGoal},
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mayrev::MaybeReversed,
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navmesh::{EdgeIndex, EdgePaths, Navmesh, NavmeshRef, NavmeshRefMut},
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Edge, NavmeshBase, NavmeshIndex, RelaxedPath,
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};
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@ -69,19 +70,28 @@ pub struct TaskResult<B: NavmeshBase, Ctx> {
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pub context: Ctx,
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}
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#[derive(Clone, Debug, PartialEq)]
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pub struct InsertionInfo<B: NavmeshBase> {
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pub prev_node: NavmeshIndex<B::PrimalNodeIndex>,
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pub cur_node: NavmeshIndex<B::PrimalNodeIndex>,
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pub edge_meta: Edge<B::PrimalNodeIndex>,
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pub epi: MaybeReversed<usize, RelaxedPath<B::EtchedPath, B::GapComment>>,
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/// the introduction position re: `prev_node` -edge-> `cur_node`
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pub intro: usize,
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pub maybe_new_goal: Option<B::EtchedPath>,
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}
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pub trait EvaluateNavmesh<B: NavmeshBase, Ctx>:
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Fn(NavmeshRef<B>, &Ctx, EdgeIndex<NavmeshIndex<B::PrimalNodeIndex>>) -> Option<(B::Scalar, Ctx)>
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FnMut(NavmeshRef<B>, &Ctx, InsertionInfo<B>) -> Option<(B::Scalar, Ctx)>
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{
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}
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impl<B, Ctx, F> EvaluateNavmesh<B, Ctx> for F
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where
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B: NavmeshBase,
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F: Fn(
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NavmeshRef<B>,
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&Ctx,
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EdgeIndex<NavmeshIndex<B::PrimalNodeIndex>>,
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) -> Option<(B::Scalar, Ctx)>,
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F: FnMut(NavmeshRef<B>, &Ctx, InsertionInfo<B>) -> Option<(B::Scalar, Ctx)>,
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{
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}
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@ -200,68 +210,83 @@ impl<B: NavmeshBase<Scalar = Scalar>, Scalar: num_traits::Float + core::iter::Su
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impl<B: NavmeshBase> PreparedGoal<B>
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where
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B::GapComment: Clone,
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B::Scalar: num_traits::Float + core::iter::Sum,
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B::EtchedPath: PartialOrd,
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B::GapComment: PartialOrd + Clone,
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B::Scalar: num_traits::Float + num_traits::float::TotalOrder + core::iter::Sum,
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{
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/// start processing the goal
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fn start_pmga<'a, Ctx, F: EvaluateNavmesh<B, Ctx>>(
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&'a self,
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navmesh: NavmeshRef<'a, B>,
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fn start_pmga<Ctx, F: EvaluateNavmesh<B, Ctx>>(
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&self,
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navmesh: NavmeshRef<'_, B>,
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goal_idx: usize,
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env: &'a PmgAstar<B, Ctx>,
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context: &'a Ctx,
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evaluate_navmesh: &'a F,
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) -> Option<impl Iterator<Item = Task<B, Ctx>> + 'a> {
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env: &PmgAstar<B, Ctx>,
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context: &Ctx,
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evaluate_navmesh: &mut F,
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) -> BinaryHeap<Task<B, Ctx>> {
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let source = NavmeshIndex::Primal(self.source.clone());
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let estimated_remaining_goals = env.estimate_remaining_goals_costs(goal_idx);
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Some(
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navmesh
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.node_data(&source)?
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.neighs
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.iter()
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.filter_map({
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let source = source.clone();
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move |neigh| {
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navmesh
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.resolve_edge_data(source.clone(), neigh.clone())
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.map(|(_, epi)| {
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let edge_len = navmesh.access_edge_paths(epi).len();
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(neigh, epi, edge_len)
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})
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}
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})
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.flat_map(move |(neigh, epi, edge_len)| {
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let eidx = EdgeIndex::from((source.clone(), neigh.clone()));
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let source = source.clone();
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// A*-like remaining costs estimation
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let estimated_remaining =
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self.estimate_costs_for_source::<B::GapComment>(navmesh, neigh);
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(0..=edge_len).filter_map(move |i| {
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let mut edge_paths = Box::from(navmesh.edge_paths);
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let mut navmesh = NavmeshRefMut {
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nodes: navmesh.nodes,
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edges: navmesh.edges,
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edge_paths: &mut edge_paths,
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};
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navmesh.access_edge_paths_mut(epi).with_borrow_mut(|mut j| {
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j.insert(i, RelaxedPath::Normal(self.label.clone()))
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});
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evaluate_navmesh(navmesh.as_ref(), context, eidx.clone()).map(
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|(costs, context)| Task {
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goal_idx,
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costs,
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estimated_remaining,
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estimated_remaining_goals,
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edge_paths,
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selected_node: neigh.clone(),
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prev_node: source.clone(),
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cur_intro: edge_len - i,
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context,
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},
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)
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let neighs = match navmesh.node_data(&source) {
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None => return BinaryHeap::new(),
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Some(x) => &x.neighs,
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};
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let mut ret = BinaryHeap::new();
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// NOTE: this uses a `for` loop to get around borrowing problems with `evaluate_navmesh`
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for (neigh, emeta, epi, edge_len) in neighs.iter().filter_map({
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let source = source.clone();
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move |neigh| {
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navmesh
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.resolve_edge_data(source.clone(), neigh.clone())
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.map(|(emeta, epi)| {
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let edge_len = navmesh.access_edge_paths(epi).len();
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(neigh, emeta.to_owned(), epi, edge_len)
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})
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}),
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)
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}
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}) {
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let source = source.clone();
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// A*-like remaining costs estimation
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let estimated_remaining =
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self.estimate_costs_for_source::<B::GapComment>(navmesh, neigh);
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for i in 0..=edge_len {
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let mut edge_paths = Box::from(navmesh.edge_paths);
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let mut navmesh = NavmeshRefMut {
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nodes: navmesh.nodes,
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edges: navmesh.edges,
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edge_paths: &mut edge_paths,
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};
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navmesh
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.access_edge_paths_mut(epi)
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.with_borrow_mut(|mut j| j.insert(i, RelaxedPath::Normal(self.label.clone())));
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if let Some(new_task) = (*evaluate_navmesh)(
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navmesh.as_ref(),
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context,
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InsertionInfo {
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prev_node: source.clone(),
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cur_node: neigh.clone(),
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edge_meta: emeta.clone(),
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epi,
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intro: i,
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maybe_new_goal: Some(self.label.clone()),
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},
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)
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.map(|(costs, context)| Task {
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goal_idx,
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costs,
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estimated_remaining,
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estimated_remaining_goals,
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edge_paths,
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selected_node: neigh.clone(),
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prev_node: source.clone(),
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cur_intro: edge_len - i,
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context,
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}) {
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ret.push(new_task);
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}
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}
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}
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ret
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}
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}
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@ -309,7 +334,7 @@ where
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fn progress<F: EvaluateNavmesh<B, Ctx>>(
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&self,
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env: &mut PmgAstar<B, Ctx>,
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evaluate_navmesh: F,
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mut evaluate_navmesh: F,
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) -> Vec<NavmeshIndex<B::PrimalNodeIndex>> {
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let goal_idx = self.goal_idx;
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let navmesh = NavmeshRef {
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@ -345,30 +370,40 @@ where
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edges: &env.edges,
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edge_paths: &mut edge_paths,
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};
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let eidx = EdgeIndex::from((self.selected_node.clone(), neigh.clone()));
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let cur_intro = navmesh
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.edge_data_mut(self.selected_node.clone(), neigh.clone())
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.unwrap()
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.with_borrow_mut(|mut x| {
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x.insert(
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stop_data.insert_pos,
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RelaxedPath::Normal(goal.label.clone()),
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);
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x.len() - stop_data.insert_pos - 1
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});
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let (edge_meta, epi) = navmesh
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.resolve_edge_data(self.selected_node.clone(), neigh.clone())
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.unwrap();
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let edge_meta = edge_meta.to_owned();
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let cur_intro = navmesh.access_edge_paths_mut(epi).with_borrow_mut(|mut x| {
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x.insert(
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stop_data.insert_pos,
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RelaxedPath::Normal(goal.label.clone()),
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);
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x.len() - stop_data.insert_pos - 1
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});
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ret.push(neigh.clone());
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evaluate_navmesh(navmesh.as_ref(), &self.context, eidx).map(|(costs, context)| {
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Task {
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goal_idx,
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costs,
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estimated_remaining,
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estimated_remaining_goals: self.estimated_remaining_goals,
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edge_paths,
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selected_node: neigh.clone(),
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evaluate_navmesh(
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navmesh.as_ref(),
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&self.context,
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InsertionInfo {
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prev_node: self.selected_node.clone(),
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cur_intro,
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context,
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}
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cur_node: neigh.clone(),
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edge_meta,
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epi,
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intro: stop_data.insert_pos,
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maybe_new_goal: None,
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},
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)
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.map(|(costs, context)| Task {
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goal_idx,
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costs,
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estimated_remaining,
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estimated_remaining_goals: self.estimated_remaining_goals,
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edge_paths,
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selected_node: neigh.clone(),
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prev_node: self.selected_node.clone(),
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cur_intro,
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context,
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})
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}));
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@ -405,7 +440,7 @@ where
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navmesh: &Navmesh<B>,
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goals: Vec<Goal<B::PrimalNodeIndex, B::EtchedPath>>,
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context: &Ctx,
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evaluate_navmesh: F,
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mut evaluate_navmesh: F,
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) -> Self {
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let mut this = Self {
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queue: BinaryHeap::new(),
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@ -428,14 +463,7 @@ where
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edges: &this.edges,
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edge_paths: &navmesh.edge_paths,
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};
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let tmp = if let Some(iter) =
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first_goal.start_pmga(navmesh, 0, &this, context, &evaluate_navmesh)
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{
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iter.collect()
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} else {
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BinaryHeap::new()
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};
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tmp
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first_goal.start_pmga(navmesh, 0, &this, context, &mut evaluate_navmesh)
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};
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}
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@ -449,7 +477,7 @@ where
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/// run one step of the path-search
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pub fn step<F: EvaluateNavmesh<B, Ctx>>(
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&mut self,
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evaluate_navmesh: F,
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mut evaluate_navmesh: F,
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) -> ControlFlow<
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Option<(
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B::Scalar,
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@ -465,7 +493,7 @@ where
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log::info!("found no complete result");
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return ControlFlow::Break(None);
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};
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ControlFlow::Continue(match task.run(self, &evaluate_navmesh) {
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ControlFlow::Continue(match task.run(self, &mut evaluate_navmesh) {
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ControlFlow::Break(taskres) => {
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let next_goal_idx = taskres.goal_idx + 1;
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let navmesh = NavmeshRef {
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@ -496,17 +524,13 @@ where
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edge_count,
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taskres.costs,
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);
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let mut tmp = if let Some(iter) = next_goal.start_pmga(
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let mut tmp = next_goal.start_pmga(
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navmesh,
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next_goal_idx,
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self,
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&taskres.context,
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&evaluate_navmesh,
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) {
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iter.collect()
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} else {
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BinaryHeap::new()
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};
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&mut evaluate_navmesh,
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);
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let forks = tmp.iter().map(|i| i.selected_node.clone()).collect();
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self.queue.append(&mut tmp);
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IntermedResult {
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@ -48,6 +48,16 @@ impl<PNI> Edge<PNI> {
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}
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}
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impl<PNI: Clone> Edge<&PNI> {
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#[inline]
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pub fn to_owned(&self) -> Edge<PNI> {
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Edge {
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lhs: self.lhs.cloned(),
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rhs: self.rhs.cloned(),
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}
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}
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}
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#[derive(Clone, Copy, Debug, PartialEq, Eq, PartialOrd, Ord, Hash)]
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#[cfg_attr(
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any(test, feature = "serde"),
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