Struct de_pathing::node::SearchNode

pub(crate) struct SearchNode {
    prefix: Rc<PointChain>,
    point_set: PointSet,
    triangle_id: u32,
    min_distance: f32,
    heuristic: f32,
}

Polyanya search node.

The node consists of a path prefix (whose last point is root point of the node), an interval (a segment or the target point) and search heuristic.

Fields

prefix: Rc<PointChain>

point_set: PointSet

triangle_id: u32

min_distance: f32

heuristic: f32

Lower bound of the path length from the root via the interval the target.

Implementations

impl SearchNode

pub(crate) fn initial( source: Point<f32>, target: Point<f32>, segment: Segment, step: Step ) -> Self

Creates an initial node, i.e. a node whose prefix consists of a single point: source.

Arguments

• source - starting point.

• target - path finding target point.

• segment - first segment to be traversed.

• step - first point-to-edge step in the triangle edge neighboring graph.

fn from_segment_interval( prefix: Rc<PointChain>, interval: SegmentInterval, triangle_id: u32, target: Point<f32> ) -> Self

Creates a new Polyanya node from a path prefix and an interval. Node heuristic is computed.

Arguments

• prefix - node path prefix (up to the root of the node).

• interval - part of a triangle edge corresponding the expansion of this node. I.e. set (line segment) of “furthest” explored points along this particular path expansion.

• triangle_id - last traversed triangle (to reach interval).

• target - searched path target.

pub(crate) fn root(&self) -> Point<f32>

pub(crate) fn edge_id(&self) -> Option<u32>

pub(crate) fn triangle_id(&self) -> u32

pub(crate) fn min_distance(&self) -> f32

Returns distance of the node’s interval and the target point.

pub(crate) fn expand_to_edge( &self, segment: Segment, step: Step, target: Point<f32> ) -> [Option<Self>; 3]

Constructs and returns expansion of self onto a next (adjacent) edge.

Arguments

• segment - full line segment of the next edge.

• step - single triangle traversal step.

• target - path searching target point.

Panics

Panics if the last crossed triangle on the path to this node corresponds to the triangle of the next step (i.e. if the expansion goes backwards).

fn corner( &self, step: Step, segment: Segment, corner: Point<f32>, projection: ParamPair, target: Point<f32> ) -> Self

Creates a new node whose prefix is equal to the prefix of self with potential addition of corner (as the new node root) in the case it differs from root of self.

Arguments

• step - the one additional step from self to reach the to be created node.

• segment - line segment corresponding to the full edge directly reached (i.e. via a single triangle) from self.

• corner - last path bend / corner to reach projection onto segment. Id est root of the to be created node.

• projection - part of the target edge.

• target - searched path target.

pub(crate) fn expand_to_target( &self, target: Point<f32>, triangle_id: u32 ) -> Option<Self>

pub(crate) fn close(self, target: Point<f32>) -> Path

Constructs path from the search node.

The resulting path is a full path from source to target if the node (self) corresponds to the target point. Otherwise, it corresponds to the path from source to the closest point to target in the point set of self (on the nodes line segment).

pub(crate) fn root_score(&self) -> f32

fn score(&self) -> f32

Trait Implementations

impl Clone for SearchNode

fn clone(&self) -> SearchNode

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Ord for SearchNode

fn cmp(&self, other: &Self) -> Ordering

This method returns an Ordering between self and other.

fn max(self, other: Self) -> Self

where Self: Sized,

Compares and returns the maximum of two values.

fn min(self, other: Self) -> Self

where Self: Sized,

Compares and returns the minimum of two values.

fn clamp(self, min: Self, max: Self) -> Self

where Self: Sized + PartialOrd,

Restrict a value to a certain interval.

impl PartialEq for SearchNode

fn eq(&self, other: &Self) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl PartialOrd for SearchNode

fn partial_cmp(&self, other: &Self) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

fn lt(&self, other: &Rhs) -> bool

This method tests less than (for self and other) and is used by the < operator.

fn le(&self, other: &Rhs) -> bool

This method tests less than or equal to (for self and other) and is used by the <= operator.

fn gt(&self, other: &Rhs) -> bool

This method tests greater than (for self and other) and is used by the > operator.

fn ge(&self, other: &Rhs) -> bool

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl Eq for SearchNode