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420 lines (360 loc) · 13.1 KB
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#include <vector>
using std::vector;
#include <unordered_map>
using std::unordered_map;
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/astar_search.hpp>
#include <boost/optional.hpp>
#include "path_finding.hpp"
#include "geometry.hpp"
#include "bg_helpers.hpp"
namespace path_finding {
using boost::optional;
using boost::make_optional;
using std::shared_ptr;
using std::make_shared;
class PathFindingSurface {
public:
PathFindingSurface(const multi_polygon_type_fp& keep_in,
const optional<multi_polygon_type_fp>& keep_out,
const coordinate_type_fp tolerance) {
multi_polygon_type_fp total_keep_in;
total_keep_in = keep_in;
// By here, total_keep_in_grown is ready.
if (keep_out) {
total_keep_in = total_keep_in - *keep_out;
}
all_vertices.clear();
for (const auto& poly : total_keep_in) {
for (const auto& point : poly.outer()) {
all_vertices.push_back(point);
}
for (const auto& inner : poly.inners()) {
for (const auto& point : inner) {
all_vertices.push_back(point);
}
}
}
sort(all_vertices.begin(),
all_vertices.end(),
[](const point_type_fp& a, const point_type_fp& b) {
return std::tie(a.x(), a.y()) < std::tie(b.x(), b.y());
});
all_vertices.erase(
std::unique(all_vertices.begin(),
all_vertices.end(),
[](const point_type_fp& a, const point_type_fp& b) {
return std::tie(a.x(), a.y()) == std::tie(b.x(), b.y());
}),
all_vertices.end());
total_keep_in_grown = bg_helpers::buffer(total_keep_in, tolerance);
}
multi_polygon_type_fp total_keep_in_grown;
vector<point_type_fp> all_vertices;
};
inline bool is_intersecting(const point_type_fp& p0, const point_type_fp& p1,
const point_type_fp& p2, const point_type_fp& p3) {
const coordinate_type_fp s10_x = p1.x() - p0.x();
const coordinate_type_fp s10_y = p1.y() - p0.y();
const coordinate_type_fp s32_x = p3.x() - p2.x();
const coordinate_type_fp s32_y = p3.y() - p2.y();
coordinate_type_fp denom = s10_x * s32_y - s32_x * s10_y;
if (denom == 0) {
return false; // Collinear
}
const bool denomPositive = denom > 0;
const coordinate_type_fp s02_x = p0.x() - p2.x();
const coordinate_type_fp s02_y = p0.y() - p2.y();
const coordinate_type_fp s_numer = s10_x * s02_y - s10_y * s02_x;
if ((s_numer < 0) == denomPositive) {
return false; // No collision
}
const coordinate_type_fp t_numer = s32_x * s02_y - s32_y * s02_x;
if ((t_numer < 0) == denomPositive) {
return false; // No collision
}
if (((s_numer > denom) == denomPositive) || ((t_numer > denom) == denomPositive)) {
return false; // No collision
}
return true;
}
class PathSurface {
public:
PathSurface(const std::shared_ptr<const PathFindingSurface>& base, const point_type_fp begin, const point_type_fp end,
PathLimiter path_limiter)
: path_limiter(path_limiter) {
total_keep_in_grown.clear();
for (const auto& poly : base->total_keep_in_grown) {
if (bg::covered_by(begin, poly) && bg::covered_by(end, poly)) {
total_keep_in_grown.push_back(poly);
}
}
all_vertices.clear();
all_vertices.push_back(begin);
all_vertices.push_back(end);
for (const auto& point : base->all_vertices) {
if (!bg::equals(begin, point) && !bg::equals(end, point)) {
all_vertices.push_back(point);
}
}
distance.resize(points_num());
}
const point_type_fp& get_point_by_index(const size_t index) const {
return all_vertices[index];
}
size_t points_num() const {
return all_vertices.size();
}
// Returns true if there is at least some path from begin to end.
bool has_path() {
return total_keep_in_grown.size() > 0;
}
bool in_surface(const size_t& a_index, const size_t& b_index) const {
if (a_index > b_index) {
return in_surface(b_index, a_index);
}
auto a_b_hash = a_index * points_num() + b_index;
auto memoized_result = in_surface_memo.find(a_b_hash);
if (memoized_result != in_surface_memo.cend()) {
return memoized_result->second;
}
const auto& point_a = get_point_by_index(a_index);
const auto& point_b = get_point_by_index(b_index);
for (const auto& poly : total_keep_in_grown) {
const auto& ring = poly.outer();
for (auto current = ring.cbegin(); current + 1 != ring.cend(); current++) {
if (is_intersecting(point_a, point_b, *current, *(current+1))) {
in_surface_memo.emplace(a_b_hash, false);
return false;
}
}
for (const auto& ring : poly.inners()) {
for (auto current = ring.cbegin(); current + 1 != ring.cend(); current++) {
if (is_intersecting(point_a, point_b, *current, *(current+1))) {
in_surface_memo.emplace(a_b_hash, false);
return false;
}
}
}
}
in_surface_memo.emplace(a_b_hash, true);
return true;
}
// The distance map is a vertex-to-distance mapping.
vector<coordinate_type_fp> distance;
const PathLimiter path_limiter;
private:
mutable std::unordered_map<size_t, bool> in_surface_memo;
multi_polygon_type_fp total_keep_in_grown;
vector<point_type_fp> all_vertices;
};
struct path_surface_traversal_catetory:
public boost::vertex_list_graph_tag,
public boost::incidence_graph_tag {};
class OutEdgeIteratorImpl;
class VertexIteratorImpl;
} // namespace path_finding
namespace boost {
template <> struct graph_traits<path_finding::PathSurface> {
typedef size_t vertex_descriptor;
typedef std::pair<vertex_descriptor, vertex_descriptor> edge_descriptor;
typedef boost::undirected_tag directed_category;
typedef boost::disallow_parallel_edge_tag edge_parallel_category;
typedef path_finding::path_surface_traversal_catetory traversal_category;
typedef path_finding::VertexIteratorImpl vertex_iterator;
typedef path_finding::OutEdgeIteratorImpl out_edge_iterator;
typedef size_t degree_size_type;
typedef size_t vertices_size_type;
typedef void in_edge_iterator;
typedef void edge_iterator;
typedef void edges_size_type;
};
} // namespace boost
namespace path_finding {
typedef boost::graph_traits<PathSurface>::vertex_descriptor Vertex;
typedef boost::graph_traits<PathSurface>::edge_descriptor Edge;
typedef boost::graph_traits<PathSurface>::vertex_iterator VertexIterator;
typedef boost::graph_traits<PathSurface>::out_edge_iterator OutEdgeIterator;
typedef boost::graph_traits<PathSurface>::degree_size_type DegreeSizeType;
typedef boost::graph_traits<PathSurface>::vertices_size_type VerticesSizeType;
class OutEdgeIteratorImpl : public boost::forward_iterator_helper<OutEdgeIterator, Edge, std::ptrdiff_t, Edge*, Edge> {
public:
OutEdgeIteratorImpl()
: source(0),
target(0) {}
OutEdgeIteratorImpl(const PathSurface& path_surface, const Vertex& source, const Vertex& target)
: path_surface(&path_surface),
source(source),
target(target) {
move_to_valid_target();
}
Edge operator*() const {
return std::make_pair(source, target);
}
void operator++() {
target++;
move_to_valid_target();
}
bool operator==(const OutEdgeIterator& other) const {
return path_surface == other.path_surface
&& source == other.source
&& target == other.target;
}
private:
// Only advances if the current edge isn't in the surface or it's 0 length.
void move_to_valid_target() {
while (true) {
if (target >= path_surface->points_num()) {
break; // already fell off the end
}
if (target == source) {
target++; // don't self-edge for sure
continue;
}
if (path_surface->path_limiter &&
path_surface->path_limiter(path_surface->get_point_by_index(target),
path_surface->distance[source] +
bg::distance(path_surface->get_point_by_index(source),
path_surface->get_point_by_index(target)))) {
target++; // This path would be too long.
continue;
}
if (!path_surface->in_surface(source, target)) {
target++; // segment is not in the allowed surface
continue;
}
break;
}
}
const PathSurface* path_surface;
Vertex source;
Vertex target;
};
class VertexIteratorImpl : public boost::forward_iterator_helper<VertexIterator, Vertex, std::ptrdiff_t, Vertex*, Vertex> {
public:
VertexIteratorImpl()
: current(0) {}
VertexIteratorImpl(const Vertex current)
: current(current) {}
Vertex operator*() const {
return current;
}
void operator++() {
current++;
}
bool operator==(const VertexIterator& other) const {
return current == other.current;
}
private:
Vertex current;
};
std::pair<VertexIterator, VertexIterator> vertices(const PathSurface& path_surface) {
return std::make_pair(0, path_surface.points_num());
}
std::pair<OutEdgeIterator, OutEdgeIterator> out_edges(const Vertex& vertex, const PathSurface& path_surface) {
return std::make_pair(OutEdgeIteratorImpl(path_surface, vertex, 0), OutEdgeIteratorImpl(path_surface, vertex, path_surface.points_num()));
}
DegreeSizeType out_degree(Vertex v, const PathSurface& graph) {
DegreeSizeType result = 0;
std::pair<OutEdgeIterator, OutEdgeIterator> edges = out_edges(v, graph);
for (OutEdgeIterator i = edges.first; i != edges.second; i++) {
++result;
}
return result;
}
Vertex source(Edge edge, const PathSurface&) {
return edge.first;
}
Vertex target(Edge edge, const PathSurface&) {
return edge.second;
}
VerticesSizeType num_vertices(const PathSurface& path_surface) {
return path_surface.points_num();
}
} // namespace path_finding
namespace boost {
template <> struct vertex_property_type<path_finding::PathSurface> {
typedef boost::graph_traits<path_finding::PathSurface>::vertex_descriptor type;
};
} // namespace boost
namespace path_finding {
class PathSurfaceHeuristic: public boost::astar_heuristic<PathSurface, coordinate_type_fp> {
public:
PathSurfaceHeuristic(shared_ptr<PathSurface> path_surface, const Vertex& goal)
: path_surface(path_surface),
goal(goal) {}
int operator()(Vertex v) {
return bg::distance(path_surface->get_point_by_index(v),
path_surface->get_point_by_index(goal));
}
private:
const shared_ptr<PathSurface> path_surface;
const Vertex goal;
};
struct FoundGoal {};
struct AstarGoalVisitor : public boost::default_astar_visitor {
AstarGoalVisitor(Vertex goal)
: goal(goal) {}
void examine_vertex(Vertex u, const PathSurface&) {
if (u == goal) {
throw FoundGoal();
}
}
private:
Vertex goal;
};
const std::shared_ptr<const PathFindingSurface> create_path_finding_surface(
const multi_polygon_type_fp& keep_in,
const boost::optional<multi_polygon_type_fp>& keep_out,
const coordinate_type_fp tolerance) {
boost::function_requires<boost::VertexListGraphConcept<PathSurface>>();
boost::function_requires<boost::IncidenceGraphConcept<PathSurface>>();
return make_shared<PathFindingSurface>(keep_in, keep_out, tolerance);
}
boost::optional<linestring_type_fp> find_path(
const std::shared_ptr<const PathFindingSurface> path_finding_surface,
const point_type_fp& start, const point_type_fp& end,
PathLimiter path_limiter) {
linestring_type_fp direct_ls;
direct_ls.push_back(start);
direct_ls.push_back(end);
if (bg::covered_by(direct_ls, path_finding_surface->total_keep_in_grown)) {
return direct_ls;
}
auto path_surface = make_shared<PathSurface>(path_finding_surface,
start, end,
path_limiter);
if (!path_surface->has_path()) {
return boost::none;
}
// The predecessor map is a vertex-to-vertex mapping.
vector<Vertex> predecessor(path_surface->points_num());
// The weight map is the length of each segment.
auto weight_pmap = boost::make_function_property_map<Edge>(
[&path_surface](const Edge& edge) {
return bg::distance(path_surface->get_point_by_index(edge.first),
path_surface->get_point_by_index(edge.second));
});
// The weight map is the length of each segment.
auto vertex_index_pmap = boost::typed_identity_property_map<Vertex>();
try {
astar_search(*path_surface, 0, PathSurfaceHeuristic(path_surface, 1), // The end point is always made spot number 1 in the PathSurface.
boost::weight_map(weight_pmap)
.predecessor_map(&predecessor[0])
.distance_map(&path_surface->distance[0])
.vertex_index_map(vertex_index_pmap)
.visitor(AstarGoalVisitor(1)));
} catch (FoundGoal f) {
linestring_type_fp result;
for (int i = 1; i != 0; i = predecessor[i]) {
bg::append(result, path_surface->get_point_by_index(i));
}
bg::append(result, path_surface->get_point_by_index(0));
bg::reverse(result);
return make_optional(result);
} catch (GiveUp g) {
return boost::none;
}
return boost::none;
}
} //namespace path_finding
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