711 lines
22 KiB
Rust
711 lines
22 KiB
Rust
extern crate csv;
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extern crate serde;
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extern crate structopt;
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#[macro_use]
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extern crate serde_derive;
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extern crate fnv;
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extern crate humantime;
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extern crate permutohedron;
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use core::cmp::Ordering;
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use fnv::{FnvHashMap, FnvHashSet};
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use humantime::format_duration;
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use permutohedron::LexicalPermutation;
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use rstar::{PointDistance, RTree, RTreeObject, AABB};
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use std::collections::VecDeque;
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use std::hash::{Hash, Hasher};
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use std::io::Write;
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use std::path::PathBuf;
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use std::str::FromStr;
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use std::time::Instant;
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use structopt::StructOpt;
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#[derive(Debug, Deserialize)]
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struct Record {
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id: i64,
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star_type: String,
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name: String,
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mult: f32,
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x: f32,
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y: f32,
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z: f32,
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}
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#[derive(Debug, Clone)]
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struct System {
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id: i64,
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star_type: String,
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name: String,
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mult: f32,
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}
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#[derive(Debug, Clone, Copy)]
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struct Point {
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id: i64,
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x: f32,
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y: f32,
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z: f32,
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}
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#[derive(Debug)]
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enum Mode {
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BFS,
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Greedy,
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AStar,
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}
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impl FromStr for Mode {
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type Err = String;
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fn from_str(s: &str) -> Result<Mode, String> {
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match s {
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"bfs" => Ok(Mode::BFS),
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"greedy" => Ok(Mode::Greedy),
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"astar" => Ok(Mode::AStar),
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_ => Err("Invalid Mode".to_string()),
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}
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}
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}
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#[derive(Debug, StructOpt)]
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#[structopt(
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name = "ed_lrr",
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about = "Elite: Dangerous Long-Range Router",
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rename_all = "kebab-case"
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)]
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/// Plots a route through multiple systems using breadth-first search (Currently needs a lot of RAM (about 6GB), sorry)
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struct Opt {
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#[structopt(short, long = "range")]
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/// Jump Range
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range: f32,
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#[structopt(
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parse(from_os_str),
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short = "f",
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long = "path",
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default_value = "./stars.csv"
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)]
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/// Path to stars.csv
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///
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/// Generate using process.py (https://gitlab.com/Earthnuker/ed_lrr/raw/master/dumps/process.py)
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file_path: PathBuf,
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#[structopt(short = "p", long = "permute", conflicts_with = "full_permute")]
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/// Permute intermediate hops to find shortest route
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permute: bool,
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#[structopt(short = "fp", long = "full_permute", conflicts_with = "permute")]
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/// Permute all hops to find shortest route
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full_permute: bool,
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#[structopt(short = "g", long = "factor")]
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/// Greedyness factor for A-Star (0=BFS, inf=Greedy)
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factor: Option<f32>,
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#[structopt(
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short,
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long = "mode",
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raw(possible_values = "&[\"bfs\", \"greedy\",\"astar\"]")
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)]
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/// Search mode
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///
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/**
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- BFS is guaranteed to find the shortest route but very slow
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- Greedy is a lot faster but will probably not find the shortest route
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- A-Star is a good middle ground between speed and accuracy
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*/
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mode: Mode,
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/// Systems to route through
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systems: Vec<String>,
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}
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fn dist(p1: &[f32; 3], p2: &[f32; 3]) -> f32 {
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let dx = p1[0] - p2[0];
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let dy = p1[1] - p2[1];
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let dz = p1[2] - p2[2];
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return (dx * dx + dy * dy + dz * dz).sqrt();
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}
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fn fcmp(a: &f32, b: &f32) -> Ordering {
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match (a, b) {
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(x, y) if x.is_nan() && y.is_nan() => Ordering::Equal,
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(x, _) if x.is_nan() => Ordering::Greater,
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(_, y) if y.is_nan() => Ordering::Less,
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(..) => a.partial_cmp(&b).unwrap(),
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}
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}
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impl Point {
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pub fn dist2(&self, p: &[f32; 3]) -> f32 {
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let dx = self.x - p[0];
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let dy = self.y - p[1];
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let dz = self.z - p[2];
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return dx * dx + dy * dy + dz * dz;
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}
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pub fn distp(&self, p: &Point) -> f32 {
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return self.distp2(p).sqrt();
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}
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pub fn distp2(&self, p: &Point) -> f32 {
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return self.dist2(&[p.x, p.y, p.z]);
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}
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}
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impl PartialEq for Point {
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fn eq(&self, other: &Self) -> bool {
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self.id == other.id
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}
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}
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impl Eq for Point {}
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impl Hash for Point {
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fn hash<H: Hasher>(&self, state: &mut H) {
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self.id.hash(state);
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}
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}
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impl RTreeObject for Point {
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type Envelope = AABB<[f32; 3]>;
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fn envelope(&self) -> Self::Envelope {
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return AABB::from_point([self.x, self.y, self.z]);
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}
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}
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impl PointDistance for Point {
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fn distance_2(&self, point: &[f32; 3]) -> f32 {
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return self.dist2(&point);
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}
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}
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struct Router {
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tree: RTree<Point>,
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systems: FnvHashMap<i64, System>,
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scoopable: FnvHashSet<i64>,
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}
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impl Router {
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pub fn new(path: &PathBuf) -> Self {
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let mut scoopable = FnvHashSet::default();
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let mut systems: FnvHashMap<i64, System> = FnvHashMap::default();
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let mut reader = csv::ReaderBuilder::new()
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.has_headers(false)
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.from_path(path)
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.unwrap_or_else(|e| {
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println!("Error loading {}: {}", path.to_str().unwrap(), e);
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std::process::exit(1);
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});
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println!("Loading {}...", path.to_str().unwrap());
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let points = reader
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.deserialize()
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.map(|res: Result<Record, _>| {
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let sys = res.unwrap();
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systems.insert(
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sys.id,
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System {
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id: sys.id,
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star_type: sys.star_type.clone(),
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name: sys.name,
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mult: sys.mult,
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},
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);
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if sys.mult > 1.0f32 {
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scoopable.insert(sys.id);
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} else {
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for c in "KGBFOAM".chars() {
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if sys.star_type.starts_with(c) {
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scoopable.insert(sys.id);
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break;
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}
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}
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}
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return Point {
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x: sys.x,
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y: sys.y,
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z: sys.z,
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id: sys.id,
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};
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})
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.collect();
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return Self {
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tree: RTree::<Point>::bulk_load(points),
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systems,
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scoopable,
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};
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}
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fn preload_points(&self) -> FnvHashMap<i64, &Point> {
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let mut ret = FnvHashMap::default();
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for point in &self.tree {
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ret.insert(point.id, point);
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}
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return ret;
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}
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fn closest(&self, point: &[f32; 3]) -> &Point {
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return self.tree.nearest_neighbor(point).unwrap();
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}
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fn points_in_sphere(&self, center: &[f32; 3], radius: f32) -> impl Iterator<Item = &Point> {
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return self.tree.locate_within_distance(*center, radius * radius);
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}
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fn mult(&self, id: i64) -> f32 {
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if let Some(sys) = self.systems.get(&id) {
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return sys.mult;
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};
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return 1.0;
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}
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fn neighbours(&self, sys: &Point, r: f32) -> impl Iterator<Item = &Point> {
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return self.points_in_sphere(&[sys.x, sys.y, sys.z], self.mult(sys.id) * r);
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}
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fn valid(&self, sys: &Point) -> bool {
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return self.scoopable.contains(&sys.id);
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}
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pub fn best_name_multiroute(
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&self,
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waypoints: &Vec<String>,
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range: f32,
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full: bool,
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mode: Mode,
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factor: f32,
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) -> Vec<(&System, &Point)> {
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let mut best_score: f32 = std::f32::MAX;
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let mut waypoints = waypoints.clone();
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let mut best_permutation_waypoints = waypoints.clone();
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let first = waypoints.first().cloned();
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let last = waypoints.last().cloned();
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let t_start = Instant::now();
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println!("Finding best permutation of hops...");
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while waypoints.prev_permutation() {}
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loop {
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let c_first = waypoints.first().cloned();
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let c_last = waypoints.last().cloned();
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if full || ((c_first == first) && (c_last == last)) {
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let mut total_d = 0.0;
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for pair in waypoints.windows(2) {
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match pair {
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[src, dst] => {
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let (src, dst) = (self.name_to_point(&src), self.name_to_point(&dst));
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total_d += src.distp2(dst);
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}
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_ => panic!("Invalid routing parameters!"),
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}
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}
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if total_d < best_score {
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best_score = total_d;
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best_permutation_waypoints = waypoints.clone();
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}
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}
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if !waypoints.next_permutation() {
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break;
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}
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}
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println!("Done in {}!", format_duration(t_start.elapsed()));
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println!("Best permutation: {:?}", best_permutation_waypoints);
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return self.name_multiroute(&best_permutation_waypoints, range, mode, factor);
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}
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pub fn name_multiroute(
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&self,
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waypoints: &Vec<String>,
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range: f32,
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mode: Mode,
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factor: f32,
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) -> Vec<(&System, &Point)> {
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let mut coords = Vec::new();
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for p in waypoints {
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let p = self.name_to_point(p);
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let s = [p.x, p.y, p.z];
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coords.push(s);
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}
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return self.multiroute(coords.as_slice(), range, mode, factor);
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}
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pub fn multiroute(
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&self,
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waypoints: &[[f32; 3]],
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range: f32,
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mode: Mode,
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factor: f32,
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) -> Vec<(&System, &Point)> {
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let mut route = Vec::new();
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for pair in waypoints.windows(2) {
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match pair {
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&[src, dst] => {
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let block = match mode {
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Mode::BFS => self.route_bfs(&src, &dst, range),
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Mode::Greedy => self.route_greedy(&src, &dst, range),
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Mode::AStar => self.route_astar(&src, &dst, range, factor),
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};
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if route.is_empty() {
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route.extend(block.iter());
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} else {
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route.extend(block.iter().skip(1));
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}
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}
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_ => panic!("Invalid routing parameters!"),
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}
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}
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return route;
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}
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fn sys_to_point(&self, id: i64) -> &Point {
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for p in &self.tree {
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if p.id == id {
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return p;
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}
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}
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eprintln!("Sytem-ID not found: \"{}\"", id);
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std::process::exit(1);
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}
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fn name_to_point(&self, name: &str) -> &Point {
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for sys in self.systems.values() {
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if sys.name == name {
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return self.sys_to_point(sys.id);
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}
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}
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eprintln!("Sytem not found: \"{}\"", name);
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std::process::exit(1);
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}
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pub fn route_astar(
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&self,
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src: &[f32; 3],
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dst: &[f32; 3],
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range: f32,
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factor: f32,
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) -> Vec<(&System, &Point)> {
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if factor == 0.0 {
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return self.route_bfs(src, dst, range);
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}
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println!("Running A-Star with greedy factor of {}", factor);
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let start_sys = self.closest(src);
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let goal_sys = self.closest(dst);
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let start_sys_name = self.systems.get(&start_sys.id).unwrap().name.clone();
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let goal_sys_name = self.systems.get(&goal_sys.id).unwrap().name.clone();
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{
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let d = dist(src, dst);
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println!(
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"Plotting route from {} to {}...",
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start_sys_name, goal_sys_name
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);
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println!(
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"Jump Range: {} Ly, Distance: {} Ly, Theoretical Jumps: {}",
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range,
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d,
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d / range
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);
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}
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let total = self.tree.size() as f32;
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let mut prev = FnvHashMap::default();
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let mut seen = FnvHashSet::default();
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let t_start = Instant::now();
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let mut found = false;
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let mut maxd = 0;
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let mut queue: Vec<(usize, usize, &Point)> = Vec::new();
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queue.push((
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0, // depth
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(start_sys.distp(goal_sys) / range) as usize, // h
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&start_sys,
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));
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seen.insert(start_sys.id);
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while !(queue.is_empty() || found) {
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while let Some((depth, _, sys)) = queue.pop() {
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if depth > maxd {
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maxd = depth;
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print!(
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"[{}] Depth: {}, Queue: {}, Seen: {} ({:.02}%) \r",
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format_duration(t_start.elapsed()),
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depth,
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queue.len(),
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seen.len(),
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((seen.len() * 100) as f32) / total
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);
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std::io::stdout().flush().unwrap();
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}
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if sys.id == goal_sys.id {
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found = true;
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break;
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}
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queue.extend(
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self.neighbours(&sys, range)
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.filter(|&nb| (self.valid(nb) || (nb.id == goal_sys.id)))
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.filter(|&nb| seen.insert(nb.id))
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.map(|nb| {
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prev.insert(nb.id, sys.id);
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let d_g = (nb.distp(goal_sys) / range) as usize;
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return (depth + 1, d_g, nb);
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}),
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);
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queue.sort_by(|b, a| {
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let (a_0, a_1) = (a.0 as f32, a.1 as f32);
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let (b_0, b_1) = (b.0 as f32, b.1 as f32);
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let v_a = a_0 + a_1 * factor;
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let v_b = b_0 + b_1 * factor;
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return fcmp(&v_a, &v_b);
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});
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// queue.reverse();
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}
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}
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println!();
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println!();
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if !found {
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eprintln!(
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"No route from {} to {} found!",
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start_sys_name, goal_sys_name
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);
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return Vec::new();
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}
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let points = self.preload_points();
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let mut v: Vec<(&System, &Point)> = Vec::new();
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let mut prev_sys_id = goal_sys.id;
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loop {
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if let Some(sys) = self.systems.get(&prev_sys_id) {
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v.push((sys, points[&sys.id]));
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} else {
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break;
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};
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match prev.get(&prev_sys_id) {
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Some(sys_id) => prev_sys_id = *sys_id,
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None => {
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break;
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}
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}
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}
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v.reverse();
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return v;
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}
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pub fn route_greedy(
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&self,
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src: &[f32; 3],
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dst: &[f32; 3],
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range: f32,
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) -> Vec<(&System, &Point)> {
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println!("Running Greedy-Search");
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let start_sys = self.closest(src);
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let goal_sys = self.closest(dst);
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let start_sys_name = self.systems.get(&start_sys.id).unwrap().name.clone();
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let goal_sys_name = self.systems.get(&goal_sys.id).unwrap().name.clone();
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{
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let d = dist(src, dst);
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println!(
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"Plotting route from {} to {}...",
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start_sys_name, goal_sys_name
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);
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println!(
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"Jump Range: {} Ly, Distance: {} Ly, Theoretical Jumps: {}",
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range,
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d,
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d / range
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);
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}
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let total = self.tree.size() as f32;
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let mut prev = FnvHashMap::default();
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let mut seen = FnvHashSet::default();
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let t_start = Instant::now();
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let mut found = false;
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let mut maxd = 0;
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let mut queue: Vec<(f32, f32, usize, &Point)> = Vec::new();
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queue.push((
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-self.mult(goal_sys.id),
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start_sys.distp2(goal_sys),
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0,
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&start_sys,
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));
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seen.insert(start_sys.id);
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while !(queue.is_empty() || found) {
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std::io::stdout().flush().unwrap();
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while let Some((_, _, depth, sys)) = queue.pop() {
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if depth > maxd {
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maxd = depth;
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print!(
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"[{}] Depth: {}, Queue: {}, Seen: {} ({:.02}%) \r",
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format_duration(t_start.elapsed()),
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|
depth,
|
|
queue.len(),
|
|
seen.len(),
|
|
((seen.len() * 100) as f32) / total
|
|
);
|
|
}
|
|
if sys.id == goal_sys.id {
|
|
found = true;
|
|
break;
|
|
}
|
|
queue.extend(
|
|
self.neighbours(&sys, range)
|
|
.filter(|&nb| (self.valid(nb) || (nb.id == goal_sys.id)))
|
|
.filter(|&nb| seen.insert(nb.id))
|
|
.map(|nb| {
|
|
prev.insert(nb.id, sys.id);
|
|
return (-self.mult(nb.id), nb.distp2(goal_sys), depth + 1, nb);
|
|
}),
|
|
);
|
|
queue.sort_by(|a, b| fcmp(&a.0, &b.0).then(fcmp(&a.1, &b.1)));
|
|
queue.reverse();
|
|
}
|
|
}
|
|
println!();
|
|
if !found {
|
|
eprintln!(
|
|
"No route from {} to {} found!",
|
|
start_sys_name, goal_sys_name
|
|
);
|
|
return Vec::new();
|
|
}
|
|
let points = self.preload_points();
|
|
let mut v: Vec<(&System, &Point)> = Vec::new();
|
|
let mut prev_sys_id = goal_sys.id;
|
|
loop {
|
|
if let Some(sys) = self.systems.get(&prev_sys_id) {
|
|
v.push((sys, points[&sys.id]));
|
|
} else {
|
|
break;
|
|
};
|
|
match prev.get(&prev_sys_id) {
|
|
Some(sys_id) => prev_sys_id = *sys_id,
|
|
None => {
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
v.reverse();
|
|
return v;
|
|
}
|
|
|
|
pub fn route_bfs(&self, src: &[f32; 3], dst: &[f32; 3], range: f32) -> Vec<(&System, &Point)> {
|
|
println!("Running BFS");
|
|
let start_sys = self.closest(src);
|
|
let goal_sys = self.closest(dst);
|
|
let start_sys_name = self.systems.get(&start_sys.id).unwrap().name.clone();
|
|
let goal_sys_name = self.systems.get(&goal_sys.id).unwrap().name.clone();
|
|
{
|
|
let d = dist(src, dst);
|
|
println!(
|
|
"Plotting route from {} to {}...",
|
|
start_sys_name, goal_sys_name
|
|
);
|
|
println!(
|
|
"Jump Range: {} Ly, Distance: {} Ly, Theoretical Jumps: {}",
|
|
range,
|
|
d,
|
|
d / range
|
|
);
|
|
}
|
|
let total = self.tree.size() as f32;
|
|
let mut prev = FnvHashMap::default();
|
|
let mut seen = FnvHashSet::default();
|
|
let t_start = Instant::now();
|
|
let mut depth = 0;
|
|
let mut found = false;
|
|
let mut queue: VecDeque<(usize, &Point)> = VecDeque::new();
|
|
let mut queue_next: VecDeque<(usize, &Point)> = VecDeque::new();
|
|
queue.push_front((0, &start_sys));
|
|
seen.insert(start_sys.id);
|
|
while !(queue.is_empty() || found) {
|
|
print!(
|
|
"[{}] Depth: {}, Queue: {}, Seen: {} ({:.02}%) \r",
|
|
format_duration(t_start.elapsed()),
|
|
depth,
|
|
queue.len(),
|
|
seen.len(),
|
|
((seen.len() * 100) as f32) / total
|
|
);
|
|
std::io::stdout().flush().unwrap();
|
|
while let Some((d, sys)) = queue.pop_front() {
|
|
if sys.id == goal_sys.id {
|
|
found = true;
|
|
break;
|
|
}
|
|
queue_next.extend(
|
|
self.neighbours(&sys, range)
|
|
.filter(|&nb| (self.valid(nb) || (nb.id == goal_sys.id)))
|
|
.filter(|&nb| seen.insert(nb.id))
|
|
.map(|nb| {
|
|
prev.insert(nb.id, sys.id);
|
|
return (d + 1, nb);
|
|
}),
|
|
);
|
|
}
|
|
std::mem::swap(&mut queue, &mut queue_next);
|
|
depth += 1;
|
|
}
|
|
println!();
|
|
if !found {
|
|
eprintln!(
|
|
"No route from {} to {} found!",
|
|
start_sys_name, goal_sys_name
|
|
);
|
|
return Vec::new();
|
|
}
|
|
let points = self.preload_points();
|
|
let mut v: Vec<(&System, &Point)> = Vec::new();
|
|
let mut prev_sys_id = goal_sys.id;
|
|
loop {
|
|
if let Some(sys) = self.systems.get(&prev_sys_id) {
|
|
v.push((sys, points[&sys.id]));
|
|
} else {
|
|
break;
|
|
};
|
|
match prev.get(&prev_sys_id) {
|
|
Some(sys_id) => prev_sys_id = *sys_id,
|
|
None => {
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
v.reverse();
|
|
return v;
|
|
}
|
|
}
|
|
|
|
fn main() {
|
|
let opts = Opt::from_args();
|
|
let path = opts.file_path;
|
|
let t_load = Instant::now();
|
|
let router: Router = Router::new(&path);
|
|
println!("Done in {}!", format_duration(t_load.elapsed()));
|
|
let t_route = Instant::now();
|
|
let route = if opts.permute || opts.full_permute {
|
|
router.best_name_multiroute(
|
|
&opts.systems,
|
|
opts.range,
|
|
opts.full_permute,
|
|
opts.mode,
|
|
opts.factor.unwrap_or(1.0),
|
|
)
|
|
} else {
|
|
router.name_multiroute(
|
|
&opts.systems,
|
|
opts.range,
|
|
opts.mode,
|
|
opts.factor.unwrap_or(1.0),
|
|
)
|
|
};
|
|
println!(
|
|
"Done in {} ({} Jumps)!\n",
|
|
format_duration(t_route.elapsed()),
|
|
route.len(),
|
|
);
|
|
if route.len() == 0 {
|
|
eprintln!("No route found!");
|
|
return;
|
|
}
|
|
let mut total: f32 = 0.0;
|
|
for ((sys1, p1), (_, p2)) in route.iter().zip(route.iter().skip(1)) {
|
|
let dist = p1.distp(p2);
|
|
total += dist;
|
|
println!(
|
|
"{} [{}] ({},{},{}): {:.2} Ly",
|
|
sys1.name, sys1.star_type, p1.x, p1.y, p1.z, dist
|
|
);
|
|
}
|
|
let (sys, p) = route.iter().last().unwrap();
|
|
println!(
|
|
"{} [{}] ({},{},{}): {:.2} Ly",
|
|
sys.name, sys.star_type, p.x, p.y, p.z, 0.0
|
|
);
|
|
println!("Total: {:.2} Ly", total);
|
|
}
|