wwbsr/node_modules/highcharts/es-modules/Gantt/PathfinderAlgorithms.js

/* *
 *
 *  (c) 2016 Highsoft AS
 *  Author: Øystein Moseng
 *
 *  License: www.highcharts.com/license
 *
 *  !!!!!!! SOURCE GETS TRANSPILED BY TYPESCRIPT. EDIT TS FILE ONLY. !!!!!!!
 *
 * */
'use strict';
import U from '../Core/Utilities.js';
var extend = U.extend, pick = U.pick;
var min = Math.min, max = Math.max, abs = Math.abs;
/**
 * Get index of last obstacle before xMin. Employs a type of binary search, and
 * thus requires that obstacles are sorted by xMin value.
 *
 * @private
 * @function findLastObstacleBefore
 *
 * @param {Array<object>} obstacles
 *        Array of obstacles to search in.
 *
 * @param {number} xMin
 *        The xMin threshold.
 *
 * @param {number} [startIx]
 *        Starting index to search from. Must be within array range.
 *
 * @return {number}
 *         The index of the last obstacle element before xMin.
 */
function findLastObstacleBefore(obstacles, xMin, startIx) {
    var left = startIx || 0, // left limit
    right = obstacles.length - 1, // right limit
    min = xMin - 0.0000001, // Make sure we include all obstacles at xMin
    cursor, cmp;
    while (left <= right) {
        cursor = (right + left) >> 1;
        cmp = min - obstacles[cursor].xMin;
        if (cmp > 0) {
            left = cursor + 1;
        }
        else if (cmp < 0) {
            right = cursor - 1;
        }
        else {
            return cursor;
        }
    }
    return left > 0 ? left - 1 : 0;
}
/**
 * Test if a point lays within an obstacle.
 *
 * @private
 * @function pointWithinObstacle
 *
 * @param {object} obstacle
 *        Obstacle to test.
 *
 * @param {Highcharts.Point} point
 *        Point with x/y props.
 *
 * @return {boolean}
 *         Whether point is within the obstacle or not.
 */
function pointWithinObstacle(obstacle, point) {
    return (point.x <= obstacle.xMax &&
        point.x >= obstacle.xMin &&
        point.y <= obstacle.yMax &&
        point.y >= obstacle.yMin);
}
/**
 * Find the index of an obstacle that wraps around a point.
 * Returns -1 if not found.
 *
 * @private
 * @function findObstacleFromPoint
 *
 * @param {Array<object>} obstacles
 *        Obstacles to test.
 *
 * @param {Highcharts.Point} point
 *        Point with x/y props.
 *
 * @return {number}
 *         Ix of the obstacle in the array, or -1 if not found.
 */
function findObstacleFromPoint(obstacles, point) {
    var i = findLastObstacleBefore(obstacles, point.x + 1) + 1;
    while (i--) {
        if (obstacles[i].xMax >= point.x &&
            // optimization using lazy evaluation
            pointWithinObstacle(obstacles[i], point)) {
            return i;
        }
    }
    return -1;
}
/**
 * Get SVG path array from array of line segments.
 *
 * @private
 * @function pathFromSegments
 *
 * @param {Array<object>} segments
 *        The segments to build the path from.
 *
 * @return {Highcharts.SVGPathArray}
 *         SVG path array as accepted by the SVG Renderer.
 */
function pathFromSegments(segments) {
    var path = [];
    if (segments.length) {
        path.push(['M', segments[0].start.x, segments[0].start.y]);
        for (var i = 0; i < segments.length; ++i) {
            path.push(['L', segments[i].end.x, segments[i].end.y]);
        }
    }
    return path;
}
/**
 * Limits obstacle max/mins in all directions to bounds. Modifies input
 * obstacle.
 *
 * @private
 * @function limitObstacleToBounds
 *
 * @param {object} obstacle
 *        Obstacle to limit.
 *
 * @param {object} bounds
 *        Bounds to use as limit.
 *
 * @return {void}
 */
function limitObstacleToBounds(obstacle, bounds) {
    obstacle.yMin = max(obstacle.yMin, bounds.yMin);
    obstacle.yMax = min(obstacle.yMax, bounds.yMax);
    obstacle.xMin = max(obstacle.xMin, bounds.xMin);
    obstacle.xMax = min(obstacle.xMax, bounds.xMax);
}
/**
 * Get an SVG path from a starting coordinate to an ending coordinate.
 * Draws a straight line.
 *
 * @function Highcharts.Pathfinder.algorithms.straight
 *
 * @param {Highcharts.PositionObject} start
 *        Starting coordinate, object with x/y props.
 *
 * @param {Highcharts.PositionObject} end
 *        Ending coordinate, object with x/y props.
 *
 * @return {object}
 *         An object with the SVG path in Array form as accepted by the SVG
 *         renderer, as well as an array of new obstacles making up this
 *         path.
 */
function straight(start, end) {
    return {
        path: [
            ['M', start.x, start.y],
            ['L', end.x, end.y]
        ],
        obstacles: [{ start: start, end: end }]
    };
}
/**
 * Find a path from a starting coordinate to an ending coordinate, using
 * right angles only, and taking only starting/ending obstacle into
 * consideration.
 *
 * @function Highcharts.Pathfinder.algorithms.simpleConnect
 *
 * @param {Highcharts.PositionObject} start
 *        Starting coordinate, object with x/y props.
 *
 * @param {Highcharts.PositionObject} end
 *        Ending coordinate, object with x/y props.
 *
 * @param {object} options
 *        Options for the algorithm:
 *        - chartObstacles: Array of chart obstacles to avoid
 *        - startDirectionX: Optional. True if starting in the X direction.
 *          If not provided, the algorithm starts in the direction that is
 *          the furthest between start/end.
 *
 * @return {object}
 *         An object with the SVG path in Array form as accepted by the SVG
 *         renderer, as well as an array of new obstacles making up this
 *         path.
 */
var simpleConnect = extend(function (start, end, options) {
    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;
    // eslint-disable-next-line valid-jsdoc
    /**
     * Return a clone of a point with a property set from a target object,
     * optionally with an offset
     * @private
     */
    function copyFromPoint(from, fromKey, to, toKey, offset) {
        var point = {
            x: from.x,
            y: from.y
        };
        point[fromKey] = to[toKey || fromKey] + (offset || 0);
        return point;
    }
    // eslint-disable-next-line valid-jsdoc
    /**
     * Return waypoint outside obstacle.
     * @private
     */
    function getMeOut(obstacle, point, direction) {
        var useMax = abs(point[direction] - obstacle[direction + 'Min']) >
            abs(point[direction] - obstacle[direction + 'Max']);
        return copyFromPoint(point, direction, obstacle, direction + (useMax ? 'Max' : 'Min'), useMax ? 1 : -1);
    }
    // Pull out end point
    if (endObstacleIx > -1) {
        endObstacle = chartObstacles[endObstacleIx];
        waypoint = getMeOut(endObstacle, end, dir);
        endSegment = {
            start: waypoint,
            end: end
        };
        endPoint = waypoint;
    }
    else {
        endPoint = end;
    }
    // If an obstacle envelops the start point, add a segment to get out,
    // and around it.
    if (startObstacleIx > -1) {
        startObstacle = chartObstacles[startObstacleIx];
        waypoint = getMeOut(startObstacle, start, dir);
        segments.push({
            start: start,
            end: waypoint
        });
        // If we are going back again, switch direction to get around start
        // obstacle.
        if (
        // Going towards max from start:
        waypoint[dir] >= start[dir] ===
            // Going towards min to end:
            waypoint[dir] >= endPoint[dir]) {
            dir = dir === 'y' ? 'x' : 'y';
            useMax = start[dir] < end[dir];
            segments.push({
                start: waypoint,
                end: copyFromPoint(waypoint, dir, startObstacle, dir + (useMax ? 'Max' : 'Min'), useMax ? 1 : -1)
            });
            // Switch direction again
            dir = dir === 'y' ? 'x' : 'y';
        }
    }
    // We are around the start obstacle. Go towards the end in one
    // direction.
    prevWaypoint = segments.length ?
        segments[segments.length - 1].end :
        start;
    waypoint = copyFromPoint(prevWaypoint, dir, endPoint);
    segments.push({
        start: prevWaypoint,
        end: waypoint
    });
    // Final run to end point in the other direction
    dir = dir === 'y' ? 'x' : 'y';
    waypoint2 = copyFromPoint(waypoint, dir, endPoint);
    segments.push({
        start: waypoint,
        end: waypoint2
    });
    // Finally add the endSegment
    segments.push(endSegment);
    return {
        path: pathFromSegments(segments),
        obstacles: segments
    };
}, {
    requiresObstacles: true
});
/**
 * Find a path from a starting coordinate to an ending coordinate, taking
 * obstacles into consideration. Might not always find the optimal path,
 * but is fast, and usually good enough.
 *
 * @function Highcharts.Pathfinder.algorithms.fastAvoid
 *
 * @param {Highcharts.PositionObject} start
 *        Starting coordinate, object with x/y props.
 *
 * @param {Highcharts.PositionObject} end
 *        Ending coordinate, object with x/y props.
 *
 * @param {object} options
 *        Options for the algorithm.
 *        - chartObstacles:  Array of chart obstacles to avoid
 *        - lineObstacles:   Array of line obstacles to jump over
 *        - obstacleMetrics: Object with metrics of chartObstacles cached
 *        - hardBounds:      Hard boundaries to not cross
 *        - obstacleOptions: Options for the obstacles, including margin
 *        - startDirectionX: Optional. True if starting in the X direction.
 *                           If not provided, the algorithm starts in the
 *                           direction that is the furthest between
 *                           start/end.
 *
 * @return {object}
 *         An object with the SVG path in Array form as accepted by the SVG
 *         renderer, as well as an array of new obstacles making up this
 *         path.
 */
var fastAvoid = extend(function (start, end, options) {
    /*
        Algorithm rules/description
        - Find initial direction
        - Determine soft/hard max for each direction.
        - Move along initial direction until obstacle.
        - Change direction.
        - If hitting obstacle, first try to change length of previous line
            before changing direction again.

        Soft min/max x = start/destination x +/- widest obstacle + margin
        Soft min/max y = start/destination y +/- tallest obstacle + margin

        @todo:
            - Make retrospective, try changing prev segment to reduce
                corners
            - Fix logic for breaking out of end-points - not always picking
                the best direction currently
            - When going around the end obstacle we should not always go the
                shortest route, rather pick the one closer to the end point
    */
    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
    // when to force break through an obstacle.
    // Boundaries to stay within. If beyond soft boundary, prefer to
    // change direction ASAP. If at hard max, always change immediately.
    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, 
    // Obstacles
    chartObstacles = options.chartObstacles, startObstacleIx = findLastObstacleBefore(chartObstacles, softMinX), endObstacleIx = findLastObstacleBefore(chartObstacles, softMaxX);
    // eslint-disable-next-line valid-jsdoc
    /**
     * How far can you go between two points before hitting an obstacle?
     * Does not work for diagonal lines (because it doesn't have to).
     * @private
     */
    function pivotPoint(fromPoint, toPoint, directionIsX) {
        var firstPoint, lastPoint, highestPoint, lowestPoint, i, searchDirection = fromPoint.x < toPoint.x ? 1 : -1;
        if (fromPoint.x < toPoint.x) {
            firstPoint = fromPoint;
            lastPoint = toPoint;
        }
        else {
            firstPoint = toPoint;
            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
});
// Define the available pathfinding algorithms.
// Algorithms take up to 3 arguments: starting point, ending point, and an
// options object.
var algorithms = {
    fastAvoid: fastAvoid,
    straight: straight,
    simpleConnect: simpleConnect
};
export default algorithms;