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Co-Authored-By: 狸花猫/Claude-Qwen3.6-Plus 🐾
378 lines
12 KiB
JavaScript
378 lines
12 KiB
JavaScript
/**
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* 通过配置不同的 costFunc, distFunc, constraints 可以得到不同效果的 router
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* generalRouter: 不限制搜索时的移动方向，避开障碍即可
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* orthogonal: 线必须沿着竖直或水平方向（4个方向）
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* octolinearRouter: 线沿着竖直、水平、对角线方向（8个方向）
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*/
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import { Util } from '@antv/g6-core';
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import { deepMix } from '@antv/util';
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import { getExpandedBBox, getExpandedBBoxPoint, getPolylinePoints, simplifyPolyline, isSegmentCrossingBBox, SortedArray } from './polyline-util';
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var manhattanDist = function manhattanDist(p1, p2) {
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return Math.abs(p1.x - p2.x) + Math.abs(p1.y - p2.y);
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};
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var eucliDist = function eucliDist(p1, p2) {
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return Math.sqrt(Math.pow(p1.x - p2.x, 2) + Math.pow(p1.y - p2.y, 2));
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};
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var straightPath = function straightPath(start, end) {
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// console.warn('fallbackRoute: straight path');
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return [start, end];
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};
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var simplePolyline = function simplePolyline(start, end, startNode, endNode, cfg) {
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return simplifyPolyline(getPolylinePoints(start, end, startNode, endNode, cfg.offset));
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};
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// getPolylinePoints
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var defaultCfg = {
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offset: 20,
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maxAllowedDirectionChange: Math.PI / 2,
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maximumLoops: 2000,
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gridSize: 10,
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directions: [{
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stepX: 1,
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stepY: 0
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}, {
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stepX: -1,
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stepY: 0
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}, {
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stepX: 0,
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stepY: 1
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}, {
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stepX: 0,
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stepY: -1
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} // top
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],
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get penalties() {
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return {
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0: 0,
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45: this.gridSize / 2,
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90: this.gridSize / 2
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};
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},
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distFunc: manhattanDist,
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fallbackRoute: simplePolyline
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};
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export var octolinearCfg = {
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maxAllowedDirectionChange: Math.PI / 4,
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// 8 个方向: 上下左右 + 45度斜线方向
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directions: [{
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stepX: 1,
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stepY: 0
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}, {
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stepX: 1,
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stepY: 1
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}, {
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stepX: 0,
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stepY: 1
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}, {
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stepX: -1,
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stepY: 1
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}, {
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stepX: -1,
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stepY: 0
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}, {
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stepX: -1,
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stepY: -1
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}, {
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stepX: 0,
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stepY: -1
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}, {
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stepX: 1,
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stepY: -1
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}],
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distFunc: eucliDist,
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fallbackRoute: straightPath
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};
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var pos2GridIx = function pos2GridIx(pos, gridSize) {
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var gridIx = Math.round(Math.abs(pos / gridSize));
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var sign = pos < 0 ? -1 : 1;
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return gridIx < 0 ? 0 : sign * gridIx;
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};
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var getObstacleMap = function getObstacleMap(items, gridSize, offset) {
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var map = {};
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items.forEach(function (item) {
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// create-edge 时，当边类型为 polyline 时 endNode 为 null
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if (!item) return;
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var bbox = getExpandedBBox(item.getBBox(), offset);
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for (var x = pos2GridIx(bbox.minX, gridSize); x <= pos2GridIx(bbox.maxX, gridSize); x += 1) {
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for (var y = pos2GridIx(bbox.minY, gridSize); y <= pos2GridIx(bbox.maxY, gridSize); y += 1) {
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map["".concat(x, "|||").concat(y)] = true;
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}
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}
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});
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return map;
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};
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/**
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* 方向角：计算从 p1 到 p2 的射线与水平线形成的夹角度数（顺时针从右侧0°转到该射线的角度）
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* @param p1 PolyPoint
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* @param p2 PolyPoint
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*/
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var getDirectionAngle = function getDirectionAngle(p1, p2) {
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var deltaX = p2.x - p1.x;
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var deltaY = p2.y - p1.y;
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if (deltaX || deltaY) {
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return Math.atan2(deltaY, deltaX);
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}
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return 0;
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};
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/**
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* 方向角的改变，取小于180度角
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* @param angle1
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* @param angle2
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*/
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var getAngleDiff = function getAngleDiff(angle1, angle2) {
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var directionChange = Math.abs(angle1 - angle2);
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return directionChange > Math.PI ? 2 * Math.PI - directionChange : directionChange;
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// return directionChange > 180 ? 360 - directionChange : directionChange;
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};
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// Path finder //
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var estimateCost = function estimateCost(from, endPoints, distFunc) {
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var min = Infinity;
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for (var i = 0, len = endPoints.length; i < len; i++) {
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var cost = distFunc(from, endPoints[i]);
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if (cost < min) {
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min = cost;
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}
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}
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return min;
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};
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// 计算考虑 offset 后的 BBox 上的连接点
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var getBoxPoints = function getBoxPoints(point,
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// 被 gridSize 格式化后的位置（anchorPoint）
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oriPoint,
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// 未被 gridSize 格式化的位置（anchorPoint）
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node,
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// 原始节点，用于获取 bbox
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anotherPoint,
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// 另一端被 gridSize 格式化后的位置
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cfg) {
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var points = [];
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// create-edge 生成边的过程中，endNode 为 null
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if (!node) {
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return [point];
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}
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var directions = cfg.directions,
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offset = cfg.offset;
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var bbox = node.getBBox();
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var isInside = oriPoint.x > bbox.minX && oriPoint.x < bbox.maxX && oriPoint.y > bbox.minY && oriPoint.y < bbox.maxY;
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var expandBBox = getExpandedBBox(bbox, offset);
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for (var i in expandBBox) {
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expandBBox[i] = pos2GridIx(expandBBox[i], cfg.gridSize);
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}
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if (isInside) {
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// 如果 anchorPoint 在节点内部，允许第一段线穿过节点
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for (var _i = 0, directions_1 = directions; _i < directions_1.length; _i++) {
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var dir = directions_1[_i];
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var bounds = [[{
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x: expandBBox.minX,
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y: expandBBox.minY
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}, {
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x: expandBBox.maxX,
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y: expandBBox.minY
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}], [{
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x: expandBBox.minX,
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y: expandBBox.minY
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}, {
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x: expandBBox.minX,
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y: expandBBox.maxY
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}], [{
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x: expandBBox.maxX,
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y: expandBBox.minY
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}, {
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x: expandBBox.maxX,
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y: expandBBox.maxY
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}], [{
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x: expandBBox.minX,
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y: expandBBox.maxY
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}, {
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x: expandBBox.maxX,
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y: expandBBox.maxY
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}]];
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for (var i = 0; i < 4; i++) {
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var boundLine = bounds[i];
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var insterctP_1 = Util.getLineIntersect(point, {
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x: point.x + dir.stepX * expandBBox.width,
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y: point.y + dir.stepY * expandBBox.height
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}, boundLine[0], boundLine[1]);
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if (insterctP_1 && !isSegmentCrossingBBox(point, insterctP_1, bbox)) {
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insterctP_1.id = "".concat(insterctP_1.x, "|||").concat(insterctP_1.y);
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points.push(insterctP_1);
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}
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}
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}
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return points;
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}
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// 如果 anchorPoint 在节点上，只有一个可选方向
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var insterctP = getExpandedBBoxPoint(expandBBox, point, anotherPoint);
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insterctP.id = "".concat(insterctP.x, "|||").concat(insterctP.y);
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return [insterctP];
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};
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var getDirectionChange = function getDirectionChange(current, neighbor, cameFrom, scaleStartPoint) {
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var directionAngle = getDirectionAngle(current, neighbor);
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var currentCameFrom = cameFrom[current.id];
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if (!currentCameFrom) {
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var startAngle = getDirectionAngle(scaleStartPoint, current);
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return getAngleDiff(startAngle, directionAngle);
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}
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var prevDirectionAngle = getDirectionAngle({
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x: currentCameFrom.x,
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y: currentCameFrom.y
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}, current);
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return getAngleDiff(prevDirectionAngle, directionAngle);
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};
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var getControlPoints = function getControlPoints(current, cameFrom, scaleStartPoint, endPoint, startPoint, scaleEndPoint, gridSize) {
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var controlPoints = [endPoint];
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var pointZero = endPoint;
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var currentId = current.id;
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var currentX = current.x;
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var currentY = current.y;
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var lastPoint = {
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x: currentX,
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y: currentY,
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id: currentId
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};
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if (getDirectionChange(lastPoint, scaleEndPoint, cameFrom, scaleStartPoint)) {
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pointZero = {
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x: scaleEndPoint.x === endPoint.x ? endPoint.x : lastPoint.x * gridSize,
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y: scaleEndPoint.y === endPoint.y ? endPoint.y : lastPoint.y * gridSize
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};
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controlPoints.unshift(pointZero);
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}
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var currentCameFrom = cameFrom[currentId];
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while (currentCameFrom && currentCameFrom.id !== currentId) {
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var point = {
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x: currentX,
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y: currentY,
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id: currentId
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};
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var prePoint = {
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x: currentCameFrom.x,
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y: currentCameFrom.y,
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id: currentCameFrom.id
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};
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var directionChange = getDirectionChange(prePoint, point, cameFrom, scaleStartPoint);
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if (directionChange) {
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pointZero = {
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x: prePoint.x === point.x ? pointZero.x : prePoint.x * gridSize,
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y: prePoint.y === point.y ? pointZero.y : prePoint.y * gridSize
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};
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controlPoints.unshift(pointZero);
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}
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currentId = prePoint.id;
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currentX = prePoint.x;
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currentY = prePoint.y;
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currentCameFrom = cameFrom[currentId];
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}
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// 和startNode对齐
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controlPoints[0].x = currentX === scaleStartPoint.x ? startPoint.x : pointZero.x;
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controlPoints[0].y = currentY === scaleStartPoint.y ? startPoint.y : pointZero.y;
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controlPoints.unshift(startPoint);
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return controlPoints;
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};
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export var pathFinder = function pathFinder(startPoint, endPoint, startNode, endNode, routerCfg) {
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if (isNaN(startPoint.x) || isNaN(endPoint.x)) return [];
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var cfg = deepMix(defaultCfg, routerCfg);
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cfg.obstacles = cfg.obstacles || [];
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var penalties = cfg.penalties,
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gridSize = cfg.gridSize;
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var map = getObstacleMap(cfg.obstacles.concat([startNode, endNode]), gridSize, cfg.offset);
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var scaleStartPoint = {
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x: pos2GridIx(startPoint.x, gridSize),
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y: pos2GridIx(startPoint.y, gridSize)
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};
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var scaleEndPoint = {
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x: pos2GridIx(endPoint.x, gridSize),
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y: pos2GridIx(endPoint.y, gridSize)
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};
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startPoint.id = "".concat(scaleStartPoint.x, "|||").concat(scaleStartPoint.y);
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endPoint.id = "".concat(scaleEndPoint.x, "|||").concat(scaleEndPoint.y);
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var startPoints = getBoxPoints(scaleStartPoint, startPoint, startNode, scaleEndPoint, cfg);
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var endPoints = getBoxPoints(scaleEndPoint, endPoint, endNode, scaleStartPoint, cfg);
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startPoints.forEach(function (point) {
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delete map[point.id];
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});
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endPoints.forEach(function (point) {
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delete map[point.id];
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});
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var openSet = {};
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var closedSet = {};
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var cameFrom = {};
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// 从起点到当前点已产生的 cost, default: Infinity
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var gScore = {};
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// 起点经过当前点到达终点预估的 cost, default: Infinity
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var fScore = {};
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var sortedOpenSet = new SortedArray();
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// initialize
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for (var i = 0; i < startPoints.length; i++) {
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var firstStep = startPoints[i];
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openSet[firstStep.id] = firstStep;
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gScore[firstStep.id] = 0;
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fScore[firstStep.id] = estimateCost(firstStep, endPoints, cfg.distFunc);
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sortedOpenSet.add({
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id: firstStep.id,
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value: fScore[firstStep.id]
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});
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}
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var remainLoops = cfg.maximumLoops;
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var current, direction, neighbor, neighborCost, costFromStart, directionChange;
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var curCost = Infinity;
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var endPointMap = {};
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endPoints.forEach(function (point) {
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endPointMap["".concat(point.x, "|||").concat(point.y)] = true;
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});
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Object.keys(openSet).forEach(function (key) {
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var id = openSet[key].id;
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if (fScore[id] <= curCost) {
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curCost = fScore[id];
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current = openSet[id];
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}
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});
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while (Object.keys(openSet).length > 0 && remainLoops > 0) {
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var minId = sortedOpenSet.minId((remainLoops + 1) % 30 === 0);
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if (minId) {
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current = openSet[minId];
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} else {
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break;
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}
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// 如果 fScore 最小的点就是终点
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if (endPointMap["".concat(current.x, "|||").concat(current.y)]) {
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return getControlPoints(current, cameFrom, scaleStartPoint, endPoint, startPoint, scaleEndPoint, gridSize);
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}
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delete openSet[current.id];
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sortedOpenSet.remove(current.id);
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closedSet[current.id] = true;
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// 获取符合条件的下一步的候选连接点
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// 沿候选方向走一步
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for (var i = 0; i < cfg.directions.length; i++) {
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direction = cfg.directions[i];
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var neighborId = "".concat(Math.round(current.x) + direction.stepX, "|||").concat(Math.round(current.y) + direction.stepY);
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neighbor = {
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x: current.x + direction.stepX,
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y: current.y + direction.stepY,
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id: neighborId
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};
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if (closedSet[neighborId]) continue;
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directionChange = getDirectionChange(current, neighbor, cameFrom, scaleStartPoint);
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if (directionChange > cfg.maxAllowedDirectionChange) continue;
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if (map[neighborId]) continue; // 如果交叉则跳过
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// 将候选点加入 openSet, 并计算每个候选点的 cost
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if (!openSet[neighborId]) {
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openSet[neighborId] = neighbor;
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}
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var directionPenalties = penalties[directionChange];
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neighborCost = cfg.distFunc(current, neighbor) + (isNaN(directionPenalties) ? gridSize : directionPenalties);
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costFromStart = gScore[current.id] + neighborCost;
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var neighborGScore = gScore[neighborId];
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if (neighborGScore && costFromStart >= neighborGScore) {
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continue;
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}
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cameFrom[neighborId] = current;
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gScore[neighborId] = costFromStart;
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fScore[neighborId] = costFromStart + estimateCost(neighbor, endPoints, cfg.distFunc);
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sortedOpenSet.add({
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id: neighborId,
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value: fScore[neighborId]
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});
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}
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remainLoops -= 1;
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}
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return cfg.fallbackRoute(startPoint, endPoint, startNode, endNode, cfg);
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}; |