private void pictureBox1_Click(object sender, MouseEventArgs e)
{
int abs = (e.Location.X * ((PictureBox)sender).Image.Width) / ((PictureBox)sender).Width;
int ord = (e.Location.Y * ((PictureBox)sender).Image.Height) / ((PictureBox)sender).Height;
//Logger.GlobalLogger.debug("ABS : " + abs + " ORD : " + ord);
if (e.Button == MouseButtons.Left)
{
pEnd.X = abs;
pEnd.Y = ord;
}
else if (e.Button == MouseButtons.Right)
{
pStart.X = abs;
pStart.Y = ord;
}
else if (e.Button == MouseButtons.Middle)
{
PositionElement pObstacle = new PositionElement();
pObstacle.X = abs;
pObstacle.Y = ord;
pAutre.Add(pObstacle);
}
PositionZoneTravail pZone = new PositionZoneTravail();
pZone.A.X = 0;
pZone.A.Y = 0;
pZone.B.X = 800;
pZone.B.Y = 600;
astar = new AStar(pStart, pEnd, pZone);
astar.AddObstacles(pAutre);
DateTime dt1 = DateTime.Now;
Track tr = astar.CalculerTrajectoire();
DateTime dt2 = DateTime.Now;
Logger.GlobalLogger.info("Temps calcul : " + (dt2 - dt1).Milliseconds);
//Track tr = astar.CalculerTrajectoire();
tr.nettoyerTrajectoire();
List <QuadrillageCoord> quad = astar.CalculerQuadrillage();
Bitmap bitmap = new Bitmap(pZone.B.X, pZone.B.Y);
dessinerTrack(bitmap, tr);
Point c = new Point(pEnd.X, pEnd.Y);
//dessinerPoint(bitmap, c, Brushes.Red);
dessinerRectangle(bitmap, astar.CalculerRectangle(pEnd), Brushes.Red);
c = new Point(pStart.X, pStart.Y);
//dessinerPoint(bitmap, c, Brushes.Green);
dessinerRectangle(bitmap, astar.CalculerRectangle(pStart), Brushes.Green);
foreach (PositionElement obstacle in pAutre)
{
dessinerRectangle(bitmap, astar.CalculerRectangle(obstacle), Brushes.Gray);
//dessinerPoint(bitmap, c, Brushes.Gray);
}
foreach (QuadrillageCoord q in quad)
{
dessinerLigne(bitmap, q.A, q.B, Color.Gray, 1);
}
pictureBox1.Image = bitmap;
}