mirror of https://codeberg.org/topola/topola.git
100 lines
3.0 KiB
Rust
100 lines
3.0 KiB
Rust
// SPDX-FileCopyrightText: 2024 Topola contributors
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//
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// SPDX-License-Identifier: MIT
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use std::ops::ControlFlow;
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use derive_getters::{Dissolve, Getters};
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use crate::{
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drawing::{
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band::BandTermsegIndex, dot::FixedDotIndex, graph::PrimitiveIndex, rules::AccessRules,
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},
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geometry::primitive::PrimitiveShape,
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layout::LayoutEdit,
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router::{
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astar::{AstarError, AstarStepper},
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navcord::Navcord,
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navcorder::Navcorder,
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navmesh::{Navmesh, NavmeshError},
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Router, RouterAstarStrategy,
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},
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stepper::Step,
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};
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#[derive(Getters, Dissolve)]
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pub struct RouteStepper {
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astar: AstarStepper<Navmesh, f64>,
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navcord: Navcord,
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ghosts: Vec<PrimitiveShape>,
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obstacles: Vec<PrimitiveIndex>,
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}
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impl RouteStepper {
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pub fn new(
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router: &mut Router<impl AccessRules>,
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recorder: LayoutEdit,
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from: FixedDotIndex,
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to: FixedDotIndex,
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width: f64,
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) -> Result<Self, NavmeshError> {
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let navmesh = Navmesh::new(router.layout(), from, to, *router.options())?;
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Ok(Self::new_from_navmesh(router, recorder, navmesh, width))
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}
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pub fn new_from_navmesh(
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router: &mut Router<impl AccessRules>,
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recorder: LayoutEdit,
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navmesh: Navmesh,
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width: f64,
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) -> Self {
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let source = navmesh.origin();
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let source_navvertex = navmesh.origin_navvertex();
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let target = navmesh.destination();
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let layout = router.layout_mut();
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let mut navcord = layout.start(recorder, source, source_navvertex, width);
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let mut strategy = RouterAstarStrategy::new(layout, &mut navcord, target);
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let astar = AstarStepper::new(navmesh, source_navvertex, &mut strategy);
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let ghosts = vec![];
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let obstacles = vec![];
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Self {
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astar,
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navcord,
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ghosts,
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obstacles,
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}
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}
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}
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impl<R: AccessRules> Step<Router<'_, R>, BandTermsegIndex> for RouteStepper {
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type Error = AstarError;
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fn step(
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&mut self,
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router: &mut Router<R>,
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) -> Result<ControlFlow<BandTermsegIndex>, AstarError> {
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let layout = router.layout_mut();
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let target = self.astar.graph.destination();
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let mut strategy = RouterAstarStrategy::new(layout, &mut self.navcord, target);
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let result = self.astar.step(&mut strategy);
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self.ghosts = strategy.probe_ghosts;
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self.obstacles = strategy.probe_obstacles;
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match result {
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Ok(ControlFlow::Continue(..)) => Ok(ControlFlow::Continue(())),
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Ok(ControlFlow::Break((_cost, _path, band))) => Ok(ControlFlow::Break(band)),
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Err(e) => {
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// NOTE(fogti): The 1 instead 0 is because the first element in the path
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// is the source navvertex. See also: `NavcordStepper::new`.
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for _ in 1..self.navcord.path.len() {
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self.navcord.step_back(layout);
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}
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Err(e)
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}
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}
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}
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}
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