nanomap/tools/ShortestPath.js

import {MinPriorityQueue} from "@datastructures-js/priority-queue";
import {sill, noexcept, sill_unwrap} from "./Debug";
import {find_common} from "./Misc";

function __haversine_distance(p1, p2) {
    const toRadians = (degrees) => {
        return degrees * Math.PI / 180;
    };
    const [lat1, lon1] = p1;
    const [lat2, lon2] = p2;
    const R = 6371;
    const dLat = toRadians(lat2 - lat1);
    const dLon = toRadians(lon2 - lon1);
    const a = Math.sin(dLat / 2) * Math.sin(dLat / 2) +
        Math.cos(toRadians(lat1)) * Math.cos(toRadians(lat2)) *
        Math.sin(dLon / 2) * Math.sin(dLon / 2);
    const c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
    if (R * c < 0) console.warn("WARNING!!!");
    return R * c;
}


/**
 * Use Dijkstra algorithm to find the shortest path.
 * @param nodes node index list
 * @param ways  unused in this implementation
 * @param loc   unused in this implementation
 * @param ch    adjacent table
 * @param count unused in this implementation
 * @param aff   unused in this implementation
 * @param u     start node id
 * @param p     destination node id
 */
function __dijkstra(nodes, ways, loc, ch, count, aff, u, p) {
    // sill(`node count: ${Object.keys(nodes).length}`);
    const dis = {};
    const fa = {};
    const vis = new Set();
    const pq = new MinPriorityQueue();
    dis[u] = 0;
    pq.push([0, u]);
    while (!pq.isEmpty()) {
        const [d, v] = pq.pop();
        if (vis.has(v) || !ch[v]) continue;
        if (v === p) {
            break;
        }
        vis.add(v);
        const t = ch[v].length;
        for (let j = 0; j < t; ++j) {
            const [c, w] = ch[v][j];
            if (!nodes[c]) continue;
            // const w = get_weight(v, c);
            if (!dis[c] || d + w < dis[c]) {
                dis[c] = d + w;
                pq.push([dis[c], c]);
                fa[c] = v;
            }
        }
    }
    let curr = p;
    const res = [p];
    vis.clear();
    while (fa[curr]) {
        curr = fa[curr].toString();
        if (vis.has(curr)) {
            // sill(`Cycle at ${curr}`);
            break;
        }
        vis.add(curr);
        res.push(curr);
    }
    // sill("finished Dijkstra.");
    return res;
}

/**
 * Use Dijkstra algorithm with Obvious optimization to find the shortest path.
 * @param nodes node index list
 * @param ways  node list for each way
 * @param loc   relative location in the way
 * @param ch    adjacent table
 * @param count determine isolated nodes
 * @param aff   affiliation of isolated nodes
 * @param u     start node id
 * @param p     destination node id
 */
function __obvious_dijkstra(nodes, ways, loc, ch, count, aff, u, p) {
    // sill(`node count: ${Object.keys(nodes).length}`);
    const dis = {};
    const fa = {};
    const vis = new Map();
    const pq = new MinPriorityQueue();
    dis[u] = 0;
    pq.push([0, u]);
    while (!pq.isEmpty()) {
        const [d, v] = pq.pop();
        if (vis.has(v) || !ch[v]) {
            // sill(!ch[v]);
            continue;
        }
        if (v === p) {
            // sill('break');
            break;
        }
        // sill('loop');
        vis.set(v,true);
        const t = ch[v].length;
        for (let j = 0; j < t; ++j) {
            const [c, w] = ch[v][j];
            if (!nodes[c]) continue;
            // sill(w);
            if ((!dis[c] || d + w < dis[c])) {
                dis[c] = d + w;
                pq.push([dis[c], c]);
                fa[c] = v;
            }
        }
    }
    // sill_unwrap(fa);
    let curr = p;
    const res = [p];
    vis.clear();
    while (fa[curr]) {
        const prev = curr;
        curr = fa[curr];
        if (vis.has(curr)) {
            break;
        }
        vis.set(curr,true);

        // res.push(curr);
        const way_id = find_common(aff[prev], aff[curr]);
        const way = ways[way_id];
        if(!way) {
            continue;
        }
        const p_oc = loc[prev][way_id];
        const c_oc = loc[curr][way_id];
        if (p_oc < c_oc) {
            for (let _p = p_oc + 1; _p <= c_oc; ++_p) {
                res.push(way[_p]);
            }
        } else {
            for (let _p = p_oc - 1; _p >= c_oc; --_p) {
                res.push(way[_p]);
            }
        }
    }
    // sill("finished Obvious Dijkstra.");
    return res;
}

/**
 * Use A-star algorithm with Obvious optimization to find the shortest path.
 * @param nodes     node index list
 * @param ways      node list for each way
 * @param loc       relative location in the way
 * @param ch        adjacent table
 * @param count     determine isolated nodes
 * @param aff       affiliation of isolated nodes
 * @param u         start node id
 * @param p         destination node id
 * @param adaptive  if the coefficient is hard-coded
 */
function __obvious_a_star(nodes, ways, loc, ch, count, aff, u, p, adaptive = false) {
    // sill(`node count: ${Object.keys(nodes).length}`);
    const default_coefficient = 1.1;
    const linear = (y) => y;
    const curve = (y) => 0.8 * y * y;
    const inversed_sigmoid = (y) => Math.log(y/(1.0-y));
    const heuristic = (current_distance, node_id) => {
        const estimate = haversine_distance(nodes[node_id], nodes[p]);
        const coef = (!adaptive) ? default_coefficient : (
            default_coefficient * curve(current_distance / (current_distance + estimate))
        );
        return coef * estimate;
    };
    const dis = {};
    const fa = {};
    const vis = new Map();
    const pq = new MinPriorityQueue();
    dis[u] = 0;
    pq.push([0, 0, u]);
    while (!pq.isEmpty()) {
        const [_, d, v] = pq.pop();
        if (vis.has(v) || !ch[v]) {
            // sill(!ch[v]);
            continue;
        }
        if (v === p) {
            // sill('break');
            break;
        }
        // sill('loop');
        vis.set(v,true);
        const t = ch[v].length;
        for (let j = 0; j < t; ++j) {
            const [c, w] = ch[v][j];
            if (!nodes[c]) continue;
            // sill(w);
            if ((!dis[c] || d + w < dis[c])) {
                dis[c] = d + w;
                pq.push([dis[c] + heuristic(dis[c], c), dis[c], c]);
                fa[c] = v;
            }
        }
    }
    // sill_unwrap(fa);
    let curr = p;
    const res = [p];
    vis.clear();
    while (fa[curr]) {
        const prev = curr;
        curr = fa[curr];
        if (vis.has(curr)) {
            break;
        }
        vis.set(curr,true);

        // res.push(curr);
        const way_id = find_common(aff[prev], aff[curr]);
        const way = ways[way_id];
        if(!way) {
            continue;
        }
        const p_oc = loc[prev][way_id];
        const c_oc = loc[curr][way_id];
        if (p_oc < c_oc) {
            for (let _p = p_oc + 1; _p <= c_oc; ++_p) {
                res.push(way[_p]);
            }
        } else {
            for (let _p = p_oc - 1; _p >= c_oc; --_p) {
                res.push(way[_p]);
            }
        }
    }
    // sill("finished Obvious Dijkstra.");
    return res;
}

export const haversine_distance = noexcept(__haversine_distance);
export const dijkstra = noexcept(__dijkstra);
export const obvious_dijkstra = noexcept(__obvious_dijkstra);
export const obvious_a_star = noexcept(__obvious_a_star);