basic_pathfinding/
node.rs

1use std::cmp::Ordering;
2
3use crate::coord::Coord;
4use crate::search::Search;
5
6#[derive(Eq, Clone, Copy)]
7pub struct Node {
8  pub parent: Option<Coord>,
9  pub x: i32,
10  pub y: i32,
11  pub cost: i32,
12  pub distance: i32,
13  pub visited: bool,
14}
15
16impl Node {
17  pub fn new(parent: Option<&Node>, x: i32, y: i32, cost: i32, distance: i32) -> Node {
18    Node {
19      parent: match parent {
20        Some(parent) => Some(Coord::new(parent.x, parent.y)),
21        None => None,
22      },
23      x: x,
24      y: y,
25      cost: cost,
26      distance: distance,
27      visited: false,
28    }
29  }
30
31  pub fn guess_total_cost(&self) -> i32 {
32    self.cost + self.distance
33  }
34
35  pub fn format_path(&self, search: &Search) -> Vec<Coord> {
36    let mut nodes = vec![];
37    nodes.push(self);
38
39    let mut parent = &self.parent;
40    while parent.is_some() {
41      match parent {
42        None => (),
43        Some(p) => {
44          let node = search.get_node(p.x, p.y).unwrap();
45          parent = &node.parent;
46          nodes.push(node);
47        }
48      }
49    }
50
51    nodes.pop();
52    nodes.reverse();
53
54    let threshold = search.opts.cost_threshold;
55    let fully_path = threshold.is_some() & search.opts.path_to_threshold;
56    let threshold = match threshold {
57      None => 0,
58      Some(t) => t,
59    };
60
61    let mut path = vec![];
62    for node in nodes.iter() {
63      if !fully_path | (fully_path & (threshold >= node.cost)) {
64        path.push(Coord::new(node.x, node.y));
65      }
66    }
67
68    path.to_vec()
69  }
70}
71
72impl Ord for Node {
73  fn cmp(&self, other: &Self) -> Ordering {
74    match self.guess_total_cost().cmp(&other.guess_total_cost()) {
75      Ordering::Less => Ordering::Greater,
76      Ordering::Equal => Ordering::Equal,
77      Ordering::Greater => Ordering::Less,
78    }
79  }
80}
81
82impl PartialOrd for Node {
83  fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
84    Some(self.cmp(other))
85  }
86}
87
88impl PartialEq for Node {
89  fn eq(&self, other: &Self) -> bool {
90    (self.x == other.x) & (self.y == other.y)
91  }
92}
basic_pathfinding/node.rs

basic_pathfinding/
node.rs
