/* Distance Euclidienne
* Retourne la distance euclidienne au carré, qui permet de gagner du temps car on ne calcul pas la racine
*/
static public int SquareDistanceTo(ASCase CaseA, ASCase CaseB)
{
return(SquareDistanceTo(CaseA.Point, CaseB.Point));
/*(int)Math.Pow(Case.Point.X - CaseA.Point.X, 2) +
* (int)Math.Pow(Case.Point.Y - CaseA.Point.Y, 2);*/
}
public PositionElement ConvertFromCase(ASCase Case)
{
PositionElement Position = new PositionElement();
Position.X = (int)(Case.Point.X * _UnitByCol);
Position.Y = (int)(Case.Point.Y * _UnitByRow);
return(Position);
}
public ASCase ConvertToCase(PositionElement point)
{
ASCase Case = new ASCase((point.X / (int)_UnitByCol), (point.Y / (int)_UnitByRow));
/* Case.Visited = false;
* Case.Contenu = ASCaseState.NONE;
* Case.X = point.X / _UnitByCol;
* Case.Y = point.Y / _UnitbyRow;*/
return(Case);
}
public System.Drawing.Rectangle CalculerRectangle(PositionElement point)
{
ASCase p = this.ConvertToCase(point);
//ASCase Case = _map.getCase(p.X, p.Y);
PositionElement HautGauche = ConvertFromCase(p);
p.Point.X++;
p.Point.Y++;
PositionElement BasDroite = ConvertFromCase(p);
System.Drawing.Rectangle rect = new System.Drawing.Rectangle(HautGauche.X, HautGauche.Y, BasDroite.X - HautGauche.X, BasDroite.Y - HautGauche.Y);
return(rect);
}
public ASMap(int lignes, int colonnes)
{
_map = new ASCase[lignes, colonnes];
_lignes = lignes;
_colonnes = colonnes;
_obstacles = new List <ASCase>();
// Intialisation des indexs
for (int x = 0; x < lignes; x++)
{
for (int y = 0; y < colonnes; y++)
{
_map[x, y] = new ASCase(x, y);
}
}
}
public AStar(PositionElement Depart, PositionElement Arrivee, PositionZoneTravail ZoneTravail)
{
_open = new SortedNodeList <ASCase>();
_close = new NodeList <ASCase>();
_UnitByCol = (float)Math.Abs(ZoneTravail.A.X - ZoneTravail.B.X) / _NumCol;
_UnitByRow = (float)Math.Abs(ZoneTravail.A.Y - ZoneTravail.B.Y) / _NumRow;
_map = new ASMap(_NumCol, _NumRow);
ASCase Start = ConvertToCase(Depart);
ASCase End = ConvertToCase(Arrivee);
_map.setStart(Start.Point.X, Start.Point.Y);
_map.setEnd(End.Point.X, End.Point.Y);
}
// Trouve la case la plus proche dans la bonne direction
// Prend en compte les cases déja visitées
/*private ASCase FindNearestInDirection(ASCase current)
* {
* List<ASCase> ListValide = new List<ASCase>();
* ASCase CaseOut = null;
*
* // Parcours toute les direction
* for (int i = 0; i < 4; i++)
* {
* ASCase Case = _map.getAdjCase(current, i);
* if (Case == null)
* continue;
*
* if( Case.Contenu == ASCaseState.END) // Fin
* {
* ListValide.Add(Case);
* return Case;
* }
*
* if (!Case.Visited) // Case valide
* {
* if (Case.Contenu == ASCaseState.OBSTACLE)
* continue;
* _map.setVisited(Case.X, Case.Y);
* ListValide.Add(Case);
* }
* }
*
* foreach (ASCase Case in ListValide)
* {
*
* if (CaseOut == null)
* CaseOut = Case;
* else
* {
* double distance1 = CaseOut.DistanceTo(_map.End);
* double distance2 = Case.DistanceTo(_map.End);
* if (distance1 > distance2) // Elle est plus proche
* CaseOut = Case;
* }
* }
*
* return CaseOut;
* }
*/
/*public Track CalculerTrajectoire()
* {
* ASCase PositionCourante = _map.Start;
* List<ASCase> ListeDeplacement = new List<ASCase>();
* ListeDeplacement.Add(PositionCourante);
* Track Trajectoire = new Track();
* while (PositionCourante.Contenu != ASCaseState.END) // Tant qu'on a pas trouver
* {
* ASCase Case = FindNearestInDirection(PositionCourante);
* if (Case != null) // On a trouver une case , on l'ajoute et on avance
* {
* //_map.setVisited(Case.X, Case.Y);
* ListeDeplacement.Add(Case);
* PositionCourante = Case;
* }
* else
* {
* ASCase Precedente = ListeDeplacement.Last();
* PositionCourante = Precedente; // On recommence a la derniere place
* ListeDeplacement.Remove(Precedente); // On le retire de la liste de déplacement
* }
*
* }
*
* foreach (ASCase Ajout in ListeDeplacement)
* Trajectoire.ajouterPoint(ConvertFromCase(Ajout));
* //Trajectoire.ajouterPoints(ListeDeplacement);
* return Trajectoire;
* }
*
*/
// Ajouter dans la liste des noeuds a visiter
private void AddToOpen(ASCase courant, IEnumerable <ASCase> fils)
{
foreach (ASCase Casefille in fils)
{
if (!this._open.Contains(Casefille)) // Pas deja dans la liste
{
if (!this._close.Contains(Casefille)) // Pas déja traité
{
this._open.AddDichotomatic(Casefille); // Ajout dans les traitemant furtur
}
}
else
{
if (Casefille.CalculCout() < this._open[Casefille].G) // Si on a un chemin plus court
{
Casefille.Parent = courant; // Mettre a jour le parent si on y accede plus rapidement
Casefille.G = courant.G + 1;
}
}
}
}
// Calcul de la trajectoire
public Track CalculerTrajectoire()
{
this._open.Add(_map.Start);
while (this._open.Count > 0)
{
ASCase best = this._open.RemoveFirst();
if (best.Point == _map.End.Point)
{
Track sol = new Track(); // Solution
while (best.Parent != null) // on remonte la hierarchie
{
sol.ajouterPoint(ConvertFromCase(best)); // Ajout dans la solution
best = best.Parent; // Remonte
}
return(sol);
}
this._close.Add(best);
this.AddToOpen(best, _map.getAdjCase(best, true));
}
return(null); // Pas de trouvé
}
public void AjouterObstacle(ASCase Case)
{
_obstacles.Add(Case);
}
public void setEnd(int pLigne, int pColonne)
{
_end = _map[pLigne, pColonne];
//_end.Contenu = ASCaseState.END;
//_end.Visited = false;
}
public void setStart(int pLigne, int pColonne)
{
_start = _map[pLigne, pColonne];
//_start.Contenu = ASCaseState.START;
//_start.Visited = false;
}
public List <ASCase> getAdjCase(ASCase current, bool bdiagonales = false)
{
List <ASCase> list = new List <ASCase>();
ASPoint Point = new ASPoint();
// Haut
Point.X = current.Point.X;
Point.Y = current.Point.Y + 1;
if (inMap(Point) && NearMovementFree(Point))
{
ASCase Case = new ASCase(Point.Clone(), current);
Case.CalculH(_end);
Case.G = current.G + 1;
list.Add(Case);
}
// Droite
Point.X = current.Point.X + 1;
Point.Y = current.Point.Y;
if (inMap(Point) && NearMovementFree(Point))
{
ASCase Case = new ASCase(Point.Clone(), current);
Case.CalculH(_end);
Case.G = current.G + 1;
list.Add(Case);
}
// Gauche
Point.X = current.Point.X - 1;
Point.Y = current.Point.Y;
if (inMap(Point) && NearMovementFree(Point))
{
ASCase Case = new ASCase(Point.Clone(), current);
Case.CalculH(_end);
Case.G = current.G + 1;
list.Add(Case);
}
// Bas
Point.X = current.Point.X;
Point.Y = current.Point.Y - 1;
if (inMap(Point) && NearMovementFree(Point))
{
ASCase Case = new ASCase(Point.Clone(), current);
Case.CalculH(_end);
Case.G = current.G + 1;
list.Add(Case);
}
if (bdiagonales)
{
// Haut gauche
Point.X = current.Point.X - 1;
Point.Y = current.Point.Y + 1;
if (inMap(Point) && MovementFree(Point))
{
ASCase Case = new ASCase(Point.Clone(), current);
Case.CalculH(_end);
Case.G = current.G + 2;
list.Add(Case);
}
// Haut Droite
Point.X = current.Point.X + 1;
Point.Y = current.Point.Y + 1;
if (inMap(Point) && MovementFree(Point))
{
ASCase Case = new ASCase(Point.Clone(), current);
Case.CalculH(_end);
Case.G = current.G + 2;
list.Add(Case);
}
// Bas Gauche
Point.X = current.Point.X - 1;
Point.Y = current.Point.Y - 1;
if (inMap(Point) && MovementFree(Point))
{
ASCase Case = new ASCase(Point.Clone(), current);
Case.CalculH(_end);
Case.G = current.G + 2;
list.Add(Case);
}
// Bas Droite
Point.X = current.Point.X + 1;
Point.Y = current.Point.Y - 1;
if (inMap(Point) && MovementFree(Point))
{
ASCase Case = new ASCase(Point.Clone(), current);
Case.CalculH(_end);
Case.G = current.G + 2;
list.Add(Case);
}
}
return(list);
}
public void AddObstacle(PositionElement point)
{
ASCase Case = ConvertToCase(point);
_map.AjouterObstacle(Case);
}
public ASCase(ASPoint point, ASCase parent)
{
this.Point = point;
this.Parent = parent;
}
/*public void SetG(int G)
* {
* this._G = G;
* }*/
/*public void CalculHF(ASCase End)
* {
* CalculH(End);
* this._F = this._G + this._H;
* }*/
public int CalculH(ASCase End)
{
this._H = SquareDistanceTo(this, End);
return(this._H);
}
public bool NearFree(ASPoint point)
{
return(!_obstacles.Exists(ASCase.Proche(point, 1)));
}
public bool MovementFree(ASPoint point)
{
return(!_obstacles.Exists(ASCase.byPos(point)));
}
public ASCase(int X, int Y, int G, ASCase end)
: this(X, Y, G)
{
this.CalculH(end);
}