657 lines
27 KiB
JavaScript
657 lines
27 KiB
JavaScript
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/* *
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*
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* (c) 2016 Highsoft AS
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* Author: Øystein Moseng
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*
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* License: www.highcharts.com/license
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*
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* !!!!!!! SOURCE GETS TRANSPILED BY TYPESCRIPT. EDIT TS FILE ONLY. !!!!!!!
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*
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* */
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'use strict';
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import U from '../parts/Utilities.js';
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var extend = U.extend, pick = U.pick;
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var min = Math.min, max = Math.max, abs = Math.abs;
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/**
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* Get index of last obstacle before xMin. Employs a type of binary search, and
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* thus requires that obstacles are sorted by xMin value.
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*
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* @private
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* @function findLastObstacleBefore
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*
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* @param {Array<object>} obstacles
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* Array of obstacles to search in.
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*
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* @param {number} xMin
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* The xMin threshold.
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*
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* @param {number} [startIx]
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* Starting index to search from. Must be within array range.
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*
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* @return {number}
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* The index of the last obstacle element before xMin.
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*/
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function findLastObstacleBefore(obstacles, xMin, startIx) {
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var left = startIx || 0, // left limit
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right = obstacles.length - 1, // right limit
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min = xMin - 0.0000001, // Make sure we include all obstacles at xMin
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cursor, cmp;
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while (left <= right) {
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cursor = (right + left) >> 1;
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cmp = min - obstacles[cursor].xMin;
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if (cmp > 0) {
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left = cursor + 1;
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}
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else if (cmp < 0) {
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right = cursor - 1;
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}
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else {
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return cursor;
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}
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}
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return left > 0 ? left - 1 : 0;
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}
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/**
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* Test if a point lays within an obstacle.
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*
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* @private
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* @function pointWithinObstacle
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*
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* @param {object} obstacle
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* Obstacle to test.
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*
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* @param {Highcharts.Point} point
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* Point with x/y props.
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*
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* @return {boolean}
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* Whether point is within the obstacle or not.
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*/
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function pointWithinObstacle(obstacle, point) {
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return (point.x <= obstacle.xMax &&
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point.x >= obstacle.xMin &&
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point.y <= obstacle.yMax &&
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point.y >= obstacle.yMin);
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}
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/**
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* Find the index of an obstacle that wraps around a point.
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* Returns -1 if not found.
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*
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* @private
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* @function findObstacleFromPoint
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*
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* @param {Array<object>} obstacles
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* Obstacles to test.
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*
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* @param {Highcharts.Point} point
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* Point with x/y props.
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*
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* @return {number}
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* Ix of the obstacle in the array, or -1 if not found.
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*/
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function findObstacleFromPoint(obstacles, point) {
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var i = findLastObstacleBefore(obstacles, point.x + 1) + 1;
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while (i--) {
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if (obstacles[i].xMax >= point.x &&
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// optimization using lazy evaluation
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pointWithinObstacle(obstacles[i], point)) {
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return i;
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}
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}
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return -1;
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}
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/**
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* Get SVG path array from array of line segments.
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*
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* @private
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* @function pathFromSegments
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*
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* @param {Array<object>} segments
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* The segments to build the path from.
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*
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* @return {Highcharts.SVGPathArray}
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* SVG path array as accepted by the SVG Renderer.
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*/
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function pathFromSegments(segments) {
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var path = [];
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if (segments.length) {
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path.push(['M', segments[0].start.x, segments[0].start.y]);
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for (var i = 0; i < segments.length; ++i) {
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path.push(['L', segments[i].end.x, segments[i].end.y]);
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}
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}
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return path;
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}
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/**
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* Limits obstacle max/mins in all directions to bounds. Modifies input
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* obstacle.
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*
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* @private
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* @function limitObstacleToBounds
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*
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* @param {object} obstacle
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* Obstacle to limit.
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*
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* @param {object} bounds
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* Bounds to use as limit.
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*
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* @return {void}
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*/
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function limitObstacleToBounds(obstacle, bounds) {
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obstacle.yMin = max(obstacle.yMin, bounds.yMin);
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obstacle.yMax = min(obstacle.yMax, bounds.yMax);
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obstacle.xMin = max(obstacle.xMin, bounds.xMin);
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obstacle.xMax = min(obstacle.xMax, bounds.xMax);
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}
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// Define the available pathfinding algorithms.
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// Algorithms take up to 3 arguments: starting point, ending point, and an
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// options object.
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var algorithms = {
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/**
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* Get an SVG path from a starting coordinate to an ending coordinate.
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* Draws a straight line.
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*
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* @function Highcharts.Pathfinder.algorithms.straight
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*
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* @param {Highcharts.PositionObject} start
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* Starting coordinate, object with x/y props.
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*
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* @param {Highcharts.PositionObject} end
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* Ending coordinate, object with x/y props.
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*
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* @return {object}
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* An object with the SVG path in Array form as accepted by the SVG
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* renderer, as well as an array of new obstacles making up this
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* path.
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*/
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straight: function (start, end) {
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return {
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path: [
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['M', start.x, start.y],
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['L', end.x, end.y]
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],
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obstacles: [{ start: start, end: end }]
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};
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},
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/**
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* Find a path from a starting coordinate to an ending coordinate, using
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* right angles only, and taking only starting/ending obstacle into
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* consideration.
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*
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* @function Highcharts.Pathfinder.algorithms.simpleConnect
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*
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* @param {Highcharts.PositionObject} start
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* Starting coordinate, object with x/y props.
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*
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* @param {Highcharts.PositionObject} end
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* Ending coordinate, object with x/y props.
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*
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* @param {object} options
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* Options for the algorithm:
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* - chartObstacles: Array of chart obstacles to avoid
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* - startDirectionX: Optional. True if starting in the X direction.
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* If not provided, the algorithm starts in the direction that is
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* the furthest between start/end.
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*
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* @return {object}
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* An object with the SVG path in Array form as accepted by the SVG
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* renderer, as well as an array of new obstacles making up this
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* path.
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*/
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simpleConnect: extend(function (start, end, options) {
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var segments = [], endSegment, dir = pick(options.startDirectionX, abs(end.x - start.x) > abs(end.y - start.y)) ? 'x' : 'y', chartObstacles = options.chartObstacles, startObstacleIx = findObstacleFromPoint(chartObstacles, start), endObstacleIx = findObstacleFromPoint(chartObstacles, end), startObstacle, endObstacle, prevWaypoint, waypoint, waypoint2, useMax, endPoint;
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// eslint-disable-next-line valid-jsdoc
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/**
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* Return a clone of a point with a property set from a target object,
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* optionally with an offset
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* @private
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*/
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function copyFromPoint(from, fromKey, to, toKey, offset) {
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var point = {
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x: from.x,
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y: from.y
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};
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point[fromKey] = to[toKey || fromKey] + (offset || 0);
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return point;
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}
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// eslint-disable-next-line valid-jsdoc
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/**
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* Return waypoint outside obstacle.
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* @private
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*/
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function getMeOut(obstacle, point, direction) {
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var useMax = abs(point[direction] - obstacle[direction + 'Min']) >
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abs(point[direction] - obstacle[direction + 'Max']);
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return copyFromPoint(point, direction, obstacle, direction + (useMax ? 'Max' : 'Min'), useMax ? 1 : -1);
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}
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// Pull out end point
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if (endObstacleIx > -1) {
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endObstacle = chartObstacles[endObstacleIx];
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waypoint = getMeOut(endObstacle, end, dir);
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endSegment = {
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start: waypoint,
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end: end
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};
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endPoint = waypoint;
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}
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else {
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endPoint = end;
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}
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// If an obstacle envelops the start point, add a segment to get out,
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// and around it.
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if (startObstacleIx > -1) {
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startObstacle = chartObstacles[startObstacleIx];
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waypoint = getMeOut(startObstacle, start, dir);
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segments.push({
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start: start,
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end: waypoint
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});
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// If we are going back again, switch direction to get around start
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// obstacle.
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if (
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// Going towards max from start:
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waypoint[dir] >= start[dir] ===
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// Going towards min to end:
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waypoint[dir] >= endPoint[dir]) {
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dir = dir === 'y' ? 'x' : 'y';
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useMax = start[dir] < end[dir];
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segments.push({
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start: waypoint,
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end: copyFromPoint(waypoint, dir, startObstacle, dir + (useMax ? 'Max' : 'Min'), useMax ? 1 : -1)
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});
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// Switch direction again
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dir = dir === 'y' ? 'x' : 'y';
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}
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}
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// We are around the start obstacle. Go towards the end in one
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// direction.
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prevWaypoint = segments.length ?
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segments[segments.length - 1].end :
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start;
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waypoint = copyFromPoint(prevWaypoint, dir, endPoint);
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segments.push({
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start: prevWaypoint,
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end: waypoint
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});
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// Final run to end point in the other direction
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dir = dir === 'y' ? 'x' : 'y';
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waypoint2 = copyFromPoint(waypoint, dir, endPoint);
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segments.push({
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start: waypoint,
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end: waypoint2
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});
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// Finally add the endSegment
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segments.push(endSegment);
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return {
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path: pathFromSegments(segments),
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obstacles: segments
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};
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}, {
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requiresObstacles: true
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}),
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/**
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* Find a path from a starting coordinate to an ending coordinate, taking
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* obstacles into consideration. Might not always find the optimal path,
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* but is fast, and usually good enough.
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*
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* @function Highcharts.Pathfinder.algorithms.fastAvoid
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*
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* @param {Highcharts.PositionObject} start
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* Starting coordinate, object with x/y props.
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*
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* @param {Highcharts.PositionObject} end
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* Ending coordinate, object with x/y props.
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*
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* @param {object} options
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* Options for the algorithm.
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* - chartObstacles: Array of chart obstacles to avoid
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* - lineObstacles: Array of line obstacles to jump over
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* - obstacleMetrics: Object with metrics of chartObstacles cached
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* - hardBounds: Hard boundaries to not cross
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* - obstacleOptions: Options for the obstacles, including margin
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* - startDirectionX: Optional. True if starting in the X direction.
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* If not provided, the algorithm starts in the
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* direction that is the furthest between
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* start/end.
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*
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* @return {object}
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* An object with the SVG path in Array form as accepted by the SVG
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* renderer, as well as an array of new obstacles making up this
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* path.
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*/
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fastAvoid: extend(function (start, end, options) {
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/*
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Algorithm rules/description
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- Find initial direction
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- Determine soft/hard max for each direction.
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- Move along initial direction until obstacle.
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- Change direction.
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- If hitting obstacle, first try to change length of previous line
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before changing direction again.
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Soft min/max x = start/destination x +/- widest obstacle + margin
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Soft min/max y = start/destination y +/- tallest obstacle + margin
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@todo:
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- Make retrospective, try changing prev segment to reduce
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corners
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- Fix logic for breaking out of end-points - not always picking
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the best direction currently
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- When going around the end obstacle we should not always go the
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shortest route, rather pick the one closer to the end point
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*/
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var dirIsX = pick(options.startDirectionX, abs(end.x - start.x) > abs(end.y - start.y)), dir = dirIsX ? 'x' : 'y', segments, useMax, extractedEndPoint, endSegments = [], forceObstacleBreak = false, // Used in clearPathTo to keep track of
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// when to force break through an obstacle.
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// Boundaries to stay within. If beyond soft boundary, prefer to
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// change direction ASAP. If at hard max, always change immediately.
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metrics = options.obstacleMetrics, softMinX = min(start.x, end.x) - metrics.maxWidth - 10, softMaxX = max(start.x, end.x) + metrics.maxWidth + 10, softMinY = min(start.y, end.y) - metrics.maxHeight - 10, softMaxY = max(start.y, end.y) + metrics.maxHeight + 10,
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// Obstacles
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chartObstacles = options.chartObstacles, startObstacleIx = findLastObstacleBefore(chartObstacles, softMinX), endObstacleIx = findLastObstacleBefore(chartObstacles, softMaxX);
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// eslint-disable-next-line valid-jsdoc
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/**
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* How far can you go between two points before hitting an obstacle?
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* Does not work for diagonal lines (because it doesn't have to).
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* @private
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*/
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function pivotPoint(fromPoint, toPoint, directionIsX) {
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var firstPoint, lastPoint, highestPoint, lowestPoint, i, searchDirection = fromPoint.x < toPoint.x ? 1 : -1;
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if (fromPoint.x < toPoint.x) {
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firstPoint = fromPoint;
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lastPoint = toPoint;
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}
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else {
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firstPoint = toPoint;
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lastPoint = fromPoint;
|
||
|
|
}
|
||
|
|
if (fromPoint.y < toPoint.y) {
|
||
|
|
lowestPoint = fromPoint;
|
||
|
|
highestPoint = toPoint;
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
lowestPoint = toPoint;
|
||
|
|
highestPoint = fromPoint;
|
||
|
|
}
|
||
|
|
// Go through obstacle range in reverse if toPoint is before
|
||
|
|
// fromPoint in the X-dimension.
|
||
|
|
i = searchDirection < 0 ?
|
||
|
|
// Searching backwards, start at last obstacle before last point
|
||
|
|
min(findLastObstacleBefore(chartObstacles, lastPoint.x), chartObstacles.length - 1) :
|
||
|
|
// Forwards. Since we're not sorted by xMax, we have to look
|
||
|
|
// at all obstacles.
|
||
|
|
0;
|
||
|
|
// Go through obstacles in this X range
|
||
|
|
while (chartObstacles[i] && (searchDirection > 0 && chartObstacles[i].xMin <= lastPoint.x ||
|
||
|
|
searchDirection < 0 && chartObstacles[i].xMax >= firstPoint.x)) {
|
||
|
|
// If this obstacle is between from and to points in a straight
|
||
|
|
// line, pivot at the intersection.
|
||
|
|
if (chartObstacles[i].xMin <= lastPoint.x &&
|
||
|
|
chartObstacles[i].xMax >= firstPoint.x &&
|
||
|
|
chartObstacles[i].yMin <= highestPoint.y &&
|
||
|
|
chartObstacles[i].yMax >= lowestPoint.y) {
|
||
|
|
if (directionIsX) {
|
||
|
|
return {
|
||
|
|
y: fromPoint.y,
|
||
|
|
x: fromPoint.x < toPoint.x ?
|
||
|
|
chartObstacles[i].xMin - 1 :
|
||
|
|
chartObstacles[i].xMax + 1,
|
||
|
|
obstacle: chartObstacles[i]
|
||
|
|
};
|
||
|
|
}
|
||
|
|
// else ...
|
||
|
|
return {
|
||
|
|
x: fromPoint.x,
|
||
|
|
y: fromPoint.y < toPoint.y ?
|
||
|
|
chartObstacles[i].yMin - 1 :
|
||
|
|
chartObstacles[i].yMax + 1,
|
||
|
|
obstacle: chartObstacles[i]
|
||
|
|
};
|
||
|
|
}
|
||
|
|
i += searchDirection;
|
||
|
|
}
|
||
|
|
return toPoint;
|
||
|
|
}
|
||
|
|
/**
|
||
|
|
* Decide in which direction to dodge or get out of an obstacle.
|
||
|
|
* Considers desired direction, which way is shortest, soft and hard
|
||
|
|
* bounds.
|
||
|
|
*
|
||
|
|
* (? Returns a string, either xMin, xMax, yMin or yMax.)
|
||
|
|
*
|
||
|
|
* @private
|
||
|
|
* @function
|
||
|
|
*
|
||
|
|
* @param {object} obstacle
|
||
|
|
* Obstacle to dodge/escape.
|
||
|
|
*
|
||
|
|
* @param {object} fromPoint
|
||
|
|
* Point with x/y props that's dodging/escaping.
|
||
|
|
*
|
||
|
|
* @param {object} toPoint
|
||
|
|
* Goal point.
|
||
|
|
*
|
||
|
|
* @param {boolean} dirIsX
|
||
|
|
* Dodge in X dimension.
|
||
|
|
*
|
||
|
|
* @param {object} bounds
|
||
|
|
* Hard and soft boundaries.
|
||
|
|
*
|
||
|
|
* @return {boolean}
|
||
|
|
* Use max or not.
|
||
|
|
*/
|
||
|
|
function getDodgeDirection(obstacle, fromPoint, toPoint, dirIsX, bounds) {
|
||
|
|
var softBounds = bounds.soft, hardBounds = bounds.hard, dir = dirIsX ? 'x' : 'y', toPointMax = { x: fromPoint.x, y: fromPoint.y }, toPointMin = { x: fromPoint.x, y: fromPoint.y }, minPivot, maxPivot, maxOutOfSoftBounds = obstacle[dir + 'Max'] >=
|
||
|
|
softBounds[dir + 'Max'], minOutOfSoftBounds = obstacle[dir + 'Min'] <=
|
||
|
|
softBounds[dir + 'Min'], maxOutOfHardBounds = obstacle[dir + 'Max'] >=
|
||
|
|
hardBounds[dir + 'Max'], minOutOfHardBounds = obstacle[dir + 'Min'] <=
|
||
|
|
hardBounds[dir + 'Min'],
|
||
|
|
// Find out if we should prefer one direction over the other if
|
||
|
|
// we can choose freely
|
||
|
|
minDistance = abs(obstacle[dir + 'Min'] - fromPoint[dir]), maxDistance = abs(obstacle[dir + 'Max'] - fromPoint[dir]),
|
||
|
|
// If it's a small difference, pick the one leading towards dest
|
||
|
|
// point. Otherwise pick the shortest distance
|
||
|
|
useMax = abs(minDistance - maxDistance) < 10 ?
|
||
|
|
fromPoint[dir] < toPoint[dir] :
|
||
|
|
maxDistance < minDistance;
|
||
|
|
// Check if we hit any obstacles trying to go around in either
|
||
|
|
// direction.
|
||
|
|
toPointMin[dir] = obstacle[dir + 'Min'];
|
||
|
|
toPointMax[dir] = obstacle[dir + 'Max'];
|
||
|
|
minPivot = pivotPoint(fromPoint, toPointMin, dirIsX)[dir] !==
|
||
|
|
toPointMin[dir];
|
||
|
|
maxPivot = pivotPoint(fromPoint, toPointMax, dirIsX)[dir] !==
|
||
|
|
toPointMax[dir];
|
||
|
|
useMax = minPivot ?
|
||
|
|
(maxPivot ? useMax : true) :
|
||
|
|
(maxPivot ? false : useMax);
|
||
|
|
// useMax now contains our preferred choice, bounds not taken into
|
||
|
|
// account. If both or neither direction is out of bounds we want to
|
||
|
|
// use this.
|
||
|
|
// Deal with soft bounds
|
||
|
|
useMax = minOutOfSoftBounds ?
|
||
|
|
(maxOutOfSoftBounds ? useMax : true) : // Out on min
|
||
|
|
(maxOutOfSoftBounds ? false : useMax); // Not out on min
|
||
|
|
// Deal with hard bounds
|
||
|
|
useMax = minOutOfHardBounds ?
|
||
|
|
(maxOutOfHardBounds ? useMax : true) : // Out on min
|
||
|
|
(maxOutOfHardBounds ? false : useMax); // Not out on min
|
||
|
|
return useMax;
|
||
|
|
}
|
||
|
|
// eslint-disable-next-line valid-jsdoc
|
||
|
|
/**
|
||
|
|
* Find a clear path between point.
|
||
|
|
* @private
|
||
|
|
*/
|
||
|
|
function clearPathTo(fromPoint, toPoint, dirIsX) {
|
||
|
|
// Don't waste time if we've hit goal
|
||
|
|
if (fromPoint.x === toPoint.x && fromPoint.y === toPoint.y) {
|
||
|
|
return [];
|
||
|
|
}
|
||
|
|
var dir = dirIsX ? 'x' : 'y', pivot, segments, waypoint, waypointUseMax, envelopingObstacle, secondEnvelopingObstacle, envelopWaypoint, obstacleMargin = options.obstacleOptions.margin, bounds = {
|
||
|
|
soft: {
|
||
|
|
xMin: softMinX,
|
||
|
|
xMax: softMaxX,
|
||
|
|
yMin: softMinY,
|
||
|
|
yMax: softMaxY
|
||
|
|
},
|
||
|
|
hard: options.hardBounds
|
||
|
|
};
|
||
|
|
// If fromPoint is inside an obstacle we have a problem. Break out
|
||
|
|
// by just going to the outside of this obstacle. We prefer to go to
|
||
|
|
// the nearest edge in the chosen direction.
|
||
|
|
envelopingObstacle =
|
||
|
|
findObstacleFromPoint(chartObstacles, fromPoint);
|
||
|
|
if (envelopingObstacle > -1) {
|
||
|
|
envelopingObstacle = chartObstacles[envelopingObstacle];
|
||
|
|
waypointUseMax = getDodgeDirection(envelopingObstacle, fromPoint, toPoint, dirIsX, bounds);
|
||
|
|
// Cut obstacle to hard bounds to make sure we stay within
|
||
|
|
limitObstacleToBounds(envelopingObstacle, options.hardBounds);
|
||
|
|
envelopWaypoint = dirIsX ? {
|
||
|
|
y: fromPoint.y,
|
||
|
|
x: envelopingObstacle[waypointUseMax ? 'xMax' : 'xMin'] +
|
||
|
|
(waypointUseMax ? 1 : -1)
|
||
|
|
} : {
|
||
|
|
x: fromPoint.x,
|
||
|
|
y: envelopingObstacle[waypointUseMax ? 'yMax' : 'yMin'] +
|
||
|
|
(waypointUseMax ? 1 : -1)
|
||
|
|
};
|
||
|
|
// If we crashed into another obstacle doing this, we put the
|
||
|
|
// waypoint between them instead
|
||
|
|
secondEnvelopingObstacle = findObstacleFromPoint(chartObstacles, envelopWaypoint);
|
||
|
|
if (secondEnvelopingObstacle > -1) {
|
||
|
|
secondEnvelopingObstacle = chartObstacles[secondEnvelopingObstacle];
|
||
|
|
// Cut obstacle to hard bounds
|
||
|
|
limitObstacleToBounds(secondEnvelopingObstacle, options.hardBounds);
|
||
|
|
// Modify waypoint to lay between obstacles
|
||
|
|
envelopWaypoint[dir] = waypointUseMax ? max(envelopingObstacle[dir + 'Max'] - obstacleMargin + 1, (secondEnvelopingObstacle[dir + 'Min'] +
|
||
|
|
envelopingObstacle[dir + 'Max']) / 2) :
|
||
|
|
min((envelopingObstacle[dir + 'Min'] + obstacleMargin - 1), ((secondEnvelopingObstacle[dir + 'Max'] +
|
||
|
|
envelopingObstacle[dir + 'Min']) / 2));
|
||
|
|
// We are not going anywhere. If this happens for the first
|
||
|
|
// time, do nothing. Otherwise, try to go to the extreme of
|
||
|
|
// the obstacle pair in the current direction.
|
||
|
|
if (fromPoint.x === envelopWaypoint.x &&
|
||
|
|
fromPoint.y === envelopWaypoint.y) {
|
||
|
|
if (forceObstacleBreak) {
|
||
|
|
envelopWaypoint[dir] = waypointUseMax ?
|
||
|
|
max(envelopingObstacle[dir + 'Max'], secondEnvelopingObstacle[dir + 'Max']) + 1 :
|
||
|
|
min(envelopingObstacle[dir + 'Min'], secondEnvelopingObstacle[dir + 'Min']) - 1;
|
||
|
|
}
|
||
|
|
// Toggle on if off, and the opposite
|
||
|
|
forceObstacleBreak = !forceObstacleBreak;
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
// This point is not identical to previous.
|
||
|
|
// Clear break trigger.
|
||
|
|
forceObstacleBreak = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
segments = [{
|
||
|
|
start: fromPoint,
|
||
|
|
end: envelopWaypoint
|
||
|
|
}];
|
||
|
|
}
|
||
|
|
else { // If not enveloping, use standard pivot calculation
|
||
|
|
pivot = pivotPoint(fromPoint, {
|
||
|
|
x: dirIsX ? toPoint.x : fromPoint.x,
|
||
|
|
y: dirIsX ? fromPoint.y : toPoint.y
|
||
|
|
}, dirIsX);
|
||
|
|
segments = [{
|
||
|
|
start: fromPoint,
|
||
|
|
end: {
|
||
|
|
x: pivot.x,
|
||
|
|
y: pivot.y
|
||
|
|
}
|
||
|
|
}];
|
||
|
|
// Pivot before goal, use a waypoint to dodge obstacle
|
||
|
|
if (pivot[dirIsX ? 'x' : 'y'] !== toPoint[dirIsX ? 'x' : 'y']) {
|
||
|
|
// Find direction of waypoint
|
||
|
|
waypointUseMax = getDodgeDirection(pivot.obstacle, pivot, toPoint, !dirIsX, bounds);
|
||
|
|
// Cut waypoint to hard bounds
|
||
|
|
limitObstacleToBounds(pivot.obstacle, options.hardBounds);
|
||
|
|
waypoint = {
|
||
|
|
x: dirIsX ?
|
||
|
|
pivot.x :
|
||
|
|
pivot.obstacle[waypointUseMax ? 'xMax' : 'xMin'] +
|
||
|
|
(waypointUseMax ? 1 : -1),
|
||
|
|
y: dirIsX ?
|
||
|
|
pivot.obstacle[waypointUseMax ? 'yMax' : 'yMin'] +
|
||
|
|
(waypointUseMax ? 1 : -1) :
|
||
|
|
pivot.y
|
||
|
|
};
|
||
|
|
// We're changing direction here, store that to make sure we
|
||
|
|
// also change direction when adding the last segment array
|
||
|
|
// after handling waypoint.
|
||
|
|
dirIsX = !dirIsX;
|
||
|
|
segments = segments.concat(clearPathTo({
|
||
|
|
x: pivot.x,
|
||
|
|
y: pivot.y
|
||
|
|
}, waypoint, dirIsX));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
// Get segments for the other direction too
|
||
|
|
// Recursion is our friend
|
||
|
|
segments = segments.concat(clearPathTo(segments[segments.length - 1].end, toPoint, !dirIsX));
|
||
|
|
return segments;
|
||
|
|
}
|
||
|
|
// eslint-disable-next-line valid-jsdoc
|
||
|
|
/**
|
||
|
|
* Extract point to outside of obstacle in whichever direction is
|
||
|
|
* closest. Returns new point outside obstacle.
|
||
|
|
* @private
|
||
|
|
*/
|
||
|
|
function extractFromObstacle(obstacle, point, goalPoint) {
|
||
|
|
var dirIsX = min(obstacle.xMax - point.x, point.x - obstacle.xMin) <
|
||
|
|
min(obstacle.yMax - point.y, point.y - obstacle.yMin), bounds = {
|
||
|
|
soft: options.hardBounds,
|
||
|
|
hard: options.hardBounds
|
||
|
|
}, useMax = getDodgeDirection(obstacle, point, goalPoint, dirIsX, bounds);
|
||
|
|
return dirIsX ? {
|
||
|
|
y: point.y,
|
||
|
|
x: obstacle[useMax ? 'xMax' : 'xMin'] + (useMax ? 1 : -1)
|
||
|
|
} : {
|
||
|
|
x: point.x,
|
||
|
|
y: obstacle[useMax ? 'yMax' : 'yMin'] + (useMax ? 1 : -1)
|
||
|
|
};
|
||
|
|
}
|
||
|
|
// Cut the obstacle array to soft bounds for optimization in large
|
||
|
|
// datasets.
|
||
|
|
chartObstacles =
|
||
|
|
chartObstacles.slice(startObstacleIx, endObstacleIx + 1);
|
||
|
|
// If an obstacle envelops the end point, move it out of there and add
|
||
|
|
// a little segment to where it was.
|
||
|
|
if ((endObstacleIx = findObstacleFromPoint(chartObstacles, end)) > -1) {
|
||
|
|
extractedEndPoint = extractFromObstacle(chartObstacles[endObstacleIx], end, start);
|
||
|
|
endSegments.push({
|
||
|
|
end: end,
|
||
|
|
start: extractedEndPoint
|
||
|
|
});
|
||
|
|
end = extractedEndPoint;
|
||
|
|
}
|
||
|
|
// If it's still inside one or more obstacles, get out of there by
|
||
|
|
// force-moving towards the start point.
|
||
|
|
while ((endObstacleIx = findObstacleFromPoint(chartObstacles, end)) > -1) {
|
||
|
|
useMax = end[dir] - start[dir] < 0;
|
||
|
|
extractedEndPoint = {
|
||
|
|
x: end.x,
|
||
|
|
y: end.y
|
||
|
|
};
|
||
|
|
extractedEndPoint[dir] = chartObstacles[endObstacleIx][useMax ? dir + 'Max' : dir + 'Min'] + (useMax ? 1 : -1);
|
||
|
|
endSegments.push({
|
||
|
|
end: end,
|
||
|
|
start: extractedEndPoint
|
||
|
|
});
|
||
|
|
end = extractedEndPoint;
|
||
|
|
}
|
||
|
|
// Find the path
|
||
|
|
segments = clearPathTo(start, end, dirIsX);
|
||
|
|
// Add the end-point segments
|
||
|
|
segments = segments.concat(endSegments.reverse());
|
||
|
|
return {
|
||
|
|
path: pathFromSegments(segments),
|
||
|
|
obstacles: segments
|
||
|
|
};
|
||
|
|
}, {
|
||
|
|
requiresObstacles: true
|
||
|
|
})
|
||
|
|
};
|
||
|
|
export default algorithms;
|