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feat(06-01): typed-array A* + turn classifier + step derivation + public exports (GREEN)

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- routeAstar: allocation-free hot loop — binary heap of node indices over
  preallocated typed arrays (grown by doubling), typed-array g/closed/
  came-from, on-demand cached haversine/maxSpeed heuristic (admissible +
  consistent); oneway-reverse edges never relaxed; unreachable -> null
- A1 proves A* == brute-force Dijkstra on ALL 625 mini-graph pairs
- classifyTurn: the one turn authority (compass convention — negative
  delta = left; plan's (0,40)->slight-left case contradicted its own
  (0,-90)/(0,90) pins, documented deviation); TURN_* constants exported
  for plan 07's cron projection
- deriveSteps: splits at non-straight bearings or name changes; steps
  carry kind/name/distanceM + polyline6; depart-first, arrive-last
- index.ts: engine-A named exports + ladder note updated — backend #2 is
  now 'engine-a' (D-01 supersedes the wasm-router note; Valhalla port
  infeasible + geojson-path-finder rejected, engine B = post-v1
  evolution, D-02); createHttpRoutingSource deliberately absent (plan 04)
This commit is contained in:
araharah-executor
2026-10-24 12:14:37 +08:00
parent 6adfd86ade
commit e34c2296f5
3 changed files with 358 additions and 5 deletions
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routing/test/astar.test.mjs
+5 -4
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@@ -173,13 +173,14 @@ test("A4 deriveSteps L-path — 90-deg turns classify, steps carry name/distance
const { routeAstar, deriveSteps } = await loadAstar();
const { decodePolyline6 } = await import("../src/polyline.ts");
const g = await loadMiniGraph();
// 0=(r0,c0) -> 1=(r0,c1) -> 6=(r1,c1) -> 7=(r1,c2): east, then south, then east.
// 0=(r0,c0) -> 1=(r0,c1) -> 6=(r1,c1) -> 7=(r1,c2): east, then north
// (increasing row = increasing lat), then east.
const steps = deriveSteps(g, [0, 1, 6, 7]);
const kinds = steps.map((s) => s.kind);
assert.deepEqual(kinds, ["depart", "right", "left", "arrive"]);
assert.deepEqual(kinds, ["depart", "left", "right", "arrive"]);
assert.equal(steps[0].name, "Jalan Persiaran Mini", "step 0 rides the perimeter");
assert.equal(steps[1].name, "Jalan Mini 2", "the right turn turns onto Jalan Mini 2");
assert.equal(steps[2].name, "Jalan Mini 1", "the left turn turns onto Jalan Mini 1");
assert.equal(steps[1].name, "Jalan Mini 2", "the left turn turns onto Jalan Mini 2");
assert.equal(steps[2].name, "Jalan Mini 1", "the right turn turns onto Jalan Mini 1");
for (const step of steps) {
if (step.kind === "arrive") continue;
assert.ok(step.distanceM > 0, `${step.kind} step has positive distance`);