public Track(Track PreviousTrack, Arc Transition)
{
if (_Target==null) throw new InvalidOperationException("You must specify a target Node for the Track class.");
Queue = PreviousTrack;
_Cost = Queue.Cost + Transition.Cost;
_NbArcsVisited = Queue._NbArcsVisited + 1;
EndNode = Transition.EndNode;
}
/// <summary>
/// Directly Adds an arc to the graph.
/// </summary>
/// <exception cref="ArgumentException">Cannot add an arc if one of its extremity nodes does not belong to the graph.</exception>
/// <param name="NewArc">The arc to add.</param>
/// <returns>'true' if it has actually been added / 'false' if the arc is null or if it is already in the graph.</returns>
public bool AddArc(Arc NewArc)
{
//if ( NewArc==null || LA.Contains(NewArc) ) return false;
if (NewArc == null) return false;
if (!LN.Contains(NewArc.StartNode) || !LN.Contains(NewArc.EndNode))
throw new ArgumentException("Cannot add an arc if one of its extremity nodes does not belong to the graph.");
LA.Add(NewArc);
return true;
}
/// <summary>
/// Removes a node from the graph as well as the linked arcs.
/// </summary>
/// <param name="ArcToRemove">The arc to remove.</param>
/// <returns>'true' if succeeded / 'false' otherwise.</returns>
public bool RemoveArc(Arc ArcToRemove)
{
if (ArcToRemove == null) return false;
try
{
LA.Remove(ArcToRemove);
ArcToRemove.StartNode.OutgoingArcs.Remove(ArcToRemove);
ArcToRemove.EndNode.IncomingArcs.Remove(ArcToRemove);
}
catch { return false; }
return true;
}
/// <summary>
/// Retourne vrai si le noeud peut se lier avec au moins un autre noeud du graph
/// </summary>
/// <param name="node"></param>
/// <param name="obstacles"></param>
/// <param name="distanceSecurite"></param>
/// <param name="distanceMax"></param>
/// <returns></returns>
public bool Raccordable(Node node, List<IForme> obstacles, double distanceSecurite, double distanceMax)
{
foreach (Node no in Nodes)
{
if (node != no)
{
double distance = Math.Sqrt((node.Position.X - no.Position.X) * (node.Position.X - no.Position.X) + (node.Position.Y - no.Position.Y) * (node.Position.Y - no.Position.Y));
if (distance < distanceMax)
{
Arc arc = new Arc(no, node);
arc.Weight = Math.Sqrt(distance);
Arc arc2 = new Arc(node, no);
arc2.Weight = Math.Sqrt(distance);
foreach (IForme obstacle in obstacles)
{
if (obstacle.Distance(new Segment(new PointReel(no.X, no.Y), new PointReel(node.X, node.Y))) < distanceSecurite)
{
arc.Passable = false;
arc2.Passable = false;
break;
}
}
if (arc.Passable)
{
return true;
}
}
}
}
return false;
}
/// <summary>
/// Ajoute un noeud au graph en reliant tous les points à une distance maximale et en prenant en compte les obstacles à éviter
/// Si permanent == false, le point sera supprimé au prochain appel de @CleanNodesArcsAdd
/// </summary>
/// <param name="node">Noeud à ajouter</param>
/// <param name="obstacles">Obstacles à éviter</param>
/// <param name="distanceSecurite">Distance (mm) de sécurité auour des obstacles</param>
/// <param name="distanceMax">Distance (mm) max de liaison avec les autres noeuds</param>
/// <param name="permnant">True si le point est ajouté de façon permanente et donc ne sera pas supprimé au prochain appel de @CleanNodesArcsAdd</param>
/// <returns>Nombre de points reliés au point ajouté</returns>
public int AddNode(Node node, List<IForme> obstacles, double distanceSecurite, double distanceMax, bool permanent = false)
{
double distanceNode;
// Si un noeud est deja présent à cet endroit on ne l'ajoute pas
ClosestNode(node.X, node.Y, node.Z, out distanceNode, true);
if (distanceNode == 0)
return 0;
// Teste si le noeud est franchissable avec la liste des obstacles
foreach (IForme obstacle in Plateau.ObstaclesPlateau)
{
if (obstacle.Distance(new PointReel(node.X, node.Y)) < distanceSecurite)
{
node.Passable = false;
return 0;
}
}
Nodes.Add(node);
if(!permanent)
nodesAdd.Add(node);
int nbLiaisons = 0;
// Liaisons avec les autres noeuds du graph
foreach (Node no in Nodes)
{
if (node != no)
{
double distance = Math.Sqrt((node.Position.X - no.Position.X) * (node.Position.X - no.Position.X) + (node.Position.Y - no.Position.Y) * (node.Position.Y - no.Position.Y));
if (distance < distanceMax)
{
Arc arc = new Arc(no, node);
arc.Weight = Math.Sqrt(distance);
Arc arc2 = new Arc(node, no);
arc2.Weight = Math.Sqrt(distance);
foreach (IForme obstacle in obstacles)
{
if (obstacle.Distance(new Segment(new PointReel(no.X, no.Y), new PointReel(node.X, node.Y))) < distanceSecurite)
{
arc.Passable = false;
arc2.Passable = false;
break;
}
}
if (arc.Passable)
{
AddArc(arc);
AddArc(arc2);
if (!permanent)
{
arcsAdd.Add(arc);
arcsAdd.Add(arc2);
}
nbLiaisons++;
}
}
}
}
return nbLiaisons;
}
/// <summary>
/// Creates an arc between two nodes that are already registered in the graph, adds it to the graph and returns its reference.
/// </summary>
/// <exception cref="ArgumentException">Cannot add an arc if one of its extremity nodes does not belong to the graph.</exception>
/// <param name="StartNode">Start node for the arc.</param>
/// <param name="EndNode">End node for the arc.</param>
/// <param name="Weight">Weight for the arc.</param>
/// <returns>The reference of the new arc / null if the arc is already in the graph.</returns>
public Arc AddArc(Node StartNode, Node EndNode, float Weight)
{
Arc NewArc = new Arc(StartNode, EndNode);
NewArc.Weight = Weight;
return AddArc(NewArc) ? NewArc : null;
}
