public static Point2D GetClosestPointOnSegment(Segment2D segment, Point2D point, out double distance)
{
double bot;
int i;
double t; //the relative position of the point Pn to the SEGMENT
//
// If the line segment is actually a point, then the answer is easy.
//
if (segment.Length == 0)
{
t = 0.0;
}
else
{
bot = Math.Pow(segment.x2 - segment.x1, 2) + Math.Pow(segment.y2 - segment.y1, 2);
t = (point.x - segment.x1) * (segment.x2 - segment.x1) + (point.y - segment.y1) * (segment.y2 - segment.y1);
t = t / bot;
t = Math.Min( Math.Max(t, 0.0), 1.0 );
}
Point2D closestPoint;
closestPoint.x = segment.x1 + t * (segment.x2 - segment.x1);
closestPoint.y = segment.y1 + t * (segment.y2 - segment.y1);
distance = point.GetDistance(closestPoint);
return closestPoint;
}
/// <summary>
/// 図形パスの開始Nodeを用いてFigurePathクラスを初期化する．
/// </summary>
/// <param name="start_point"></param>
public FigurePath(Point2D start_point)
{
points = new List<Point2D>();
lines = new List<LineSegment2D>();
min_x = max_x = start_point.X;
min_y = max_y = start_point.Y;
envelope = new Rectangle(start_point, 0, 0, 0);
points.Add(start_point);
}
public MazeNode(Point2D position, MazeSpace Room, MazeWall Door)
: base()
{
this.position = position;
this.Room = Room;
this.Door = Door;
if (this.Door != null)
this.MazeGraphNodeType = MazeNodeType.GateNode;
else
this.MazeGraphNodeType = MazeNodeType.SpaceNode;
incommingGraphArcs = new ArrayList();
outgoingGraphArcs = new ArrayList();
}
public bool ContainsPoint(Point2D p)
{
int i;
bool value;
double x1;
double x2;
double y1;
double y2;
value = false;
for (i = 0; i < RoomPolygon.points.Length; i++)
{
x1 = RoomPolygon.points[i].x;
y1 = RoomPolygon.points[i].y;
if (i < RoomPolygon.points.Length - 1)
{
x2 = RoomPolygon.points[i + 1].x;
y2 = RoomPolygon.points[i + 1].y;
}
else
{
x2 = RoomPolygon.points[0].x;
y2 = RoomPolygon.points[0].y;
}
if ((y1 < p.y && p.y <= y2) ||
(p.y <= y1 && y2 < p.y))
{
if ((p.x - x1) - (p.y - y1) * (x2 - x1) / (y2 - y1) < 0)
{
value = !value;
}
}
}
return value;
}
private void ProcessSnaps(ref PointF snappedPoint, PointF referencePoint)
{
if (snapToAngle)
{
if (Math.Abs(snappedPoint.X - referencePoint.X) < Math.Abs(snappedPoint.Y - referencePoint.Y))
{
snappedPoint.X = referencePoint.X;
}
else
{
snappedPoint.Y = referencePoint.Y;
}
}
if (snapToGrid)
{
snappedPoint.X = (float)Math.Round(snappedPoint.X / 10) * 10;
snappedPoint.Y = (float)Math.Round(snappedPoint.Y / 10) * 10;
}
if (snapToWall)
{
tempPoints[0] = snappedPoint;
invertedMazeMatrix.TransformPoints(tempPoints);
if (mazeWalls == null || mazeWalls.Count == 0)
return;
double distance, minDistance = double.MaxValue;
Point2D mindistancePoint = new Point2D(0, 0);
foreach (MazeWall wall in mazeWalls)
{
if (wall != selectedWall)
{
Point2D p = GeometryHelper.GetClosestPointOnSegment(wall.Segment, tempPoints[0], out distance);
if (distance < minDistance)
{
minDistance = distance;
mindistancePoint = p;
}
}
}
tempPoints[0] = mindistancePoint;
mazeBitmapGraphics.Transform.TransformPoints(tempPoints);
snappedPoint = tempPoints[0];
}
}
public RegularRectangle(RegularRectangle source)
{
starting_point = new Point2D(source.starting_point.X, source.starting_point.Y);
diagonal = new Vector3D(source.diagonal.X, source.diagonal.Y, 0);
}
/// <summary>
/// 検査点が<c>FigurePath</c>で表された図形パスの内部に存在するかどうか．閉じられた図形パスが存在しない場合にはnullを返す．
/// </summary>
/// <param name="p">検査点</param>
/// <returns></returns>
public bool? IsInside(Point2D p)
{
if (Count >= 3)
{
if ((p.X < min_x) | (p.X > max_x) | (p.Y < min_y) | (p.Y > max_y)) //パス包含長方形の外部
{
return false;
}
else
{
bool temp2 = false;
foreach (LineSegment2D line in lines)
{
temp2 |= line.IsPointOnLineSegment(p);
}
if (temp2) //パス境界上
{
return false;
}
else
{
double size = Math.Sqrt((max_x - min_x) * (max_x - min_x) + (max_y - min_y) * (max_y - min_y));
Random rnd = new Random();
LineSegment2D ray;
bool ray_is_crossing_on_point;
do
{
double theta = rnd.NextDouble() * 2.0 * Math.PI;
ray = new LineSegment2D(p, new Point2D(p.X + size * Math.Cos(theta), p.Y + size * Math.Sin(theta)));
ray_is_crossing_on_point = false;
foreach (Point2D tested_point in points)
{
ray_is_crossing_on_point |= ray.IsPointOnLineSegment(tested_point);
}
}
while (ray_is_crossing_on_point); //パスのノード上を通過することのないレイを選択
int crossing_count = 0;
foreach (LineSegment2D select_ls in lines)
{
if (select_ls.Intersects(ray))
{
crossing_count++;
}
}
return crossing_count % 2 == 0 ? false : true;
}
}
}
else
{
return null;
}
}
public void LoadAll(String filename)
{
JToken tempJObject;
StreamReader reader = File.OpenText(filename);
JObject o = (JObject)JToken.ReadFrom(new JsonTextReader(reader));
if (o.TryGetValue("name", out tempJObject))
worldName = o.GetValue("name").ToString();
if (o.TryGetValue("timeout", out tempJObject))
iWorldTimeout = (int)o.GetValue("timeout");
mazeWalls = new ArrayList();
Hashtable mazeWallsById = new Hashtable();
mazeRobots = new ArrayList();
mazeVictims = new ArrayList();
mazeSpaces = new ArrayList();
Hashtable mazeSpacesById = new Hashtable();
mazeGraph = new MazeGraph();
mazeNodeNodes = new ArrayList();
mazeSpaceNode = new ArrayList();
mazeSpaceRobots = new ArrayList();
foreach (JObject jObject in o.GetValue("walls").Children())
{
MazeWall mazeWall = new MazeWall(
new Point2D((double)((JObject)jObject.GetValue("from")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("from")).GetValue("y") * 100),
new Point2D((double)((JObject)jObject.GetValue("to")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("to")).GetValue("y") * 100),
(float)jObject.GetValue("width") * 100,
(float)jObject.GetValue("height") * 100,
Color.FromArgb(Convert.ToInt32((string)jObject.GetValue("color"), 16)));
if (mazeWall.Color.A == 0)
mazeWall.Color = Color.LightGray;
mazeWall.ID = (string)jObject.GetValue("id");
mazeWalls.Add(mazeWall);
mazeWallsById.Add((string)jObject.GetValue("id"), mazeWall);
}
if (o.GetValue("gates") != null)
{
foreach (JObject jObject in o.GetValue("gates").Children())
{
MazeWall mazeWall = new MazeWall(
new Point2D((double)((JObject)jObject.GetValue("from")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("from")).GetValue("y") * 100),
new Point2D((double)((JObject)jObject.GetValue("to")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("to")).GetValue("y") * 100),
0, 0, Color.Black);
mazeWall.MazeWallType = MazeWallType.gate;
string kind = (string)jObject.GetValue("kind");
mazeWall.MazeDoorType = (kind == "door" ? MazeGateType.door : (kind == "passage" ? MazeGateType.passage : MazeGateType.doorOneWayFromTo)); //doorOneWayFromTo will be changed later
mazeWall.blocked = (double)jObject.GetValue("blocked");
mazeWall.ID = (string)jObject.GetValue("id");
mazeWalls.Add(mazeWall);
mazeWallsById.Add((string)jObject.GetValue("id"), mazeWall);
}
}
if (o.GetValue("robots") != null)
{
JToken tmp;
Point2D? target;
foreach (JObject jObject in o.GetValue("robots").Children())
{
if (jObject.TryGetValue("target", out tmp))
target = new Point2D((double)((JObject)jObject.GetValue("target")).GetValue("x"), (double)((JObject)jObject.GetValue("target")).GetValue("y"));
else
target = null;
MazeRobot mazeRobot = new MazeRobot(
(string)jObject.GetValue("type"),
(string)jObject.GetValue("id"),
new Point2D((double)((JObject)jObject.GetValue("location")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("location")).GetValue("y") * 100),
(float)((JObject)jObject.GetValue("location")).GetValue("z") * 100,
//new Point2D((double)((JObject)jObject.GetValue("target")).GetValue("x"),(double)((JObject)jObject.GetValue("target")).GetValue("y"))
target
);
mazeRobot.ID = (string)jObject.GetValue("id");
mazeRobots.Add(mazeRobot);
}
}
if (o.GetValue("victims") != null)
{
foreach (JObject jObject in o.GetValue("victims").Children())
{
MazeVictim mazeVictim = new MazeVictim(
new Point2D((double)((JObject)jObject.GetValue("position")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("position")).GetValue("y") * 100));
mazeVictim.ID = (string)jObject.GetValue("id");
mazeVictims.Add(mazeVictim);
}
}
Hashtable wallsBySpaceId = new Hashtable();
if (o.GetValue("space-walls") != null)
{
foreach (JObject jObject in o.GetValue("space-walls").Children())
{
string spaceId = (string)jObject.GetValue("spaceId");
string wallId = (string)jObject.GetValue("wallId");
if (wallsBySpaceId.ContainsKey(spaceId))
{
((ArrayList)wallsBySpaceId[spaceId]).Add(mazeWallsById[wallId]);
}
else
{
ArrayList newArrayList = new ArrayList();
newArrayList.Add(mazeWallsById[wallId]);
wallsBySpaceId[spaceId] = newArrayList;
}
}
}
if (o.GetValue("space-gates") != null)
{
foreach (JObject jObject in o.GetValue("space-gates").Children())
{
string spaceId = (string)jObject.GetValue("spaceId");
string wallId = (string)jObject.GetValue("gateId");
if (wallsBySpaceId.ContainsKey(spaceId))
{
((ArrayList)wallsBySpaceId[spaceId]).Add(mazeWallsById[wallId]);
}
else
{
ArrayList newArrayList = new ArrayList();
newArrayList.Add(mazeWallsById[wallId]);
wallsBySpaceId[spaceId] = newArrayList;
}
}
}
if (o.GetValue("spaces") != null)
{
foreach (JObject jObject in o.GetValue("spaces").Children())
{
MazeSpace newRoom = new MazeSpace((ArrayList)wallsBySpaceId[(string)jObject.GetValue("id")]);
newRoom.ID = (string)jObject.GetValue("id");
newRoom.MazeRoomType = (MazeSpaceType)System.Enum.Parse(typeof(MazeSpaceType), (string)jObject.GetValue("kind"));
newRoom.Function = (string)jObject.GetValue("function");
newRoom.Name = (string)jObject.GetValue("name");
newRoom.ExpectedPersonCount = (int)jObject.GetValue("expectedPersonCount");
if (jObject.TryGetValue("searched", out tempJObject))
newRoom.Searched = (int)jObject.GetValue("searched");
mazeSpaces.Add(newRoom);
mazeSpacesById[newRoom.ID] = newRoom;
foreach (MazeWall roomWall in newRoom.Walls)
{
if (roomWall.RoomFrom == null)
roomWall.RoomFrom = newRoom;
else
roomWall.RoomTo = newRoom;
}
}
}
/////////////////////////// graph
Hashtable spacesByNodeId = new Hashtable();
if (o.GetValue("space-nodes") != null)
{
foreach (JObject jObject in o.GetValue("space-nodes").Children())
{
spacesByNodeId[(string)jObject.GetValue("nodeId")] = mazeSpacesById[(string)jObject.GetValue("spaceId")];
}
}
Hashtable gatesByNodeId = new Hashtable();
if (o.GetValue("gate-nodes") != null)
{
foreach (JObject jObject in o.GetValue("gate-nodes").Children())
{
gatesByNodeId[(string)jObject.GetValue("nodeId")] = mazeWallsById[(string)jObject.GetValue("gateId")];
}
}
Hashtable nodesById = new Hashtable();
if (o.GetValue("nodes") != null)
{
foreach (JObject jObject in o.GetValue("nodes").Children())
{
MazeNode node = new MazeNode(new Point2D((double)((JObject)jObject.GetValue("position")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("position")).GetValue("y") * 100),
(MazeSpace)spacesByNodeId[(string)jObject.GetValue("id")],
gatesByNodeId[(string)jObject.GetValue("id")] as MazeWall);
node.ID = (string)jObject.GetValue("id");
nodesById[node.ID] = node;
mazeGraph.AddNode(node);
}
}
if (o.GetValue("node-nodes") != null)
{
foreach (JObject jObject in o.GetValue("node-nodes").Children())
{
MazeNode fromNode = (MazeNode)nodesById[(string)jObject.GetValue("nodeFromId")];
MazeNode toNode = (MazeNode)nodesById[(string)jObject.GetValue("nodeToId")];
if (fromNode.Door != null && (fromNode.Door.MazeDoorType == MazeGateType.doorOneWayFromTo || fromNode.Door.MazeDoorType == MazeGateType.doorOneWayToFrom))
{
if (fromNode.Room == fromNode.Door.RoomFrom)
fromNode.Door.MazeDoorType = MazeGateType.doorOneWayFromTo;
else
fromNode.Door.MazeDoorType = MazeGateType.doorOneWayToFrom;
}
mazeGraph.AddArc(fromNode, toNode);
mazeNodeNodes.Add(new MazeNodeNodes(jObject.GetValue("nodeFromId").ToString(), jObject.GetValue("nodeToId").ToString(), double.Parse(jObject.GetValue("cost").ToString()), double.Parse(jObject.GetValue("blocked").ToString())));
}
}
if (o.GetValue("space-nodes") != null)
{
foreach (JObject jObject in o.GetValue("space-nodes").Children())
{
mazeSpaceNode.Add(new MazeSpaceNodes(jObject.GetValue("type").ToString(),
jObject.GetValue("spaceId").ToString(),
jObject.GetValue("nodeId").ToString()));
}
}
if (o.GetValue("space-robots") != null)
{
foreach (JObject jObject in o.GetValue("space-robots").Children())
{
mazeSpaceRobots.Add(new MazeSpaceRobots(jObject.GetValue("type").ToString(),
jObject.GetValue("spaceId").ToString(),
jObject.GetValue("robotId").ToString()));
}
}
reader.Close();
}
public Rectangle(Point2D center, double h, double w, double angle)
{
this.center = center;
height = h;
width = w;
this.angle = angle;
}
public Point2D(Point2D source)
: base(source.X,source.Y)
{
}
/// <summary>
/// <c>Point2D p</c>がLineSegmentから見て右半面に存在するかどうか．
/// </summary>
/// <param name="p"></param>
/// <returns></returns>
public bool IsPointRightSide(Point2D p)
{
var vect1 = (Vector2D)p1 - (Vector2D)p;
var vect2 = (Vector2D)p2 - (Vector2D)p;
return Vector2D.CrossProduct(vect1, vect2).Z < 0 ? true : false;
}
/// <summary>
/// Node p がLineSegmentで表される線分上に存在するかどうか．（端点含む）
/// </summary>
/// <param name="p"></param>
/// <returns></returns>
public bool IsPointOnLineSegment(Point2D p)
{
if (IsPointOnLine(p)) //直線上
{
var vect1 = (Vector2D)p1 - (Vector2D)p;
var vect2 = (Vector2D)p2 - (Vector2D)p;
return vect1 * vect2 <= 0 ? true : false; //0で端点上，負で線分内部
}
else
{
return false;
}
}
public double DistanceTo(Point2D p)
{
var temp1 = (Vector2D)p - (Vector2D)p1;
var temp2 = (Vector2D)p2 - (Vector2D)p1;
return temp1.Length * Math.Sin(Vector2D.Angle(temp1, temp2));
}
/// <summary>
/// 線分の始点と終点を用いてLineSegmentクラスを初期化する．
/// </summary>
/// <param name="p1"></param>
/// <param name="p2"></param>
public LineSegment2D(Point2D p1, Point2D p2)
{
this.p1 = p1;
this.p2 = p2;
Length = Math.Sqrt((p1.X - p2.X) * (p1.X - p2.X) + (p1.Y - p2.Y) * (p1.Y - p2.Y));
}
/// <summary>
///
/// </summary>
private void BuildPolygon()
{
Point2D[] points = new Point2D[Walls.Count];
points[0] = (Walls[0] as MazeWall).points[0];
ArrayList wallsCopy = (ArrayList) Walls.Clone();
wallsCopy.RemoveAt(0);
for (int i = 1; i < points.Length; i++)
{
//find adjacent wall... the closest
foreach (MazeWall wall in wallsCopy)
{
if (Point2D.GetDistance(wall.points[0], points[i - 1]) < 0.01)
{
points[i] = wall.points[1];
wallsCopy.Remove(wall);
break;
}
else if (Point2D.GetDistance(wall.points[1], points[i - 1]) < 0.01)
{
points[i] = wall.points[0];
wallsCopy.Remove(wall);
break;
}
}
}
roomPolygon = new Polygon2D(points);
}
private void timer1_Tick(object sender, EventArgs e)
{
double x = rnd.NextDouble();
double y = rnd.NextDouble();
Point2D newpoint = new Point2D(x, y);
if (samplebubble.GetPath().IsInside(newpoint) == true)
{
samplebubble.AddBubble(new Bubble(false, x,y) { Diam = 0.05 });
}
if (samplebubble.Count >= 200)
{
timer1.Stop();
}
Invalidate();
}
public RegularRectangle(Point2D p1, Point2D p2)
{
starting_point = new Point2D(p1.X < p2.X ? p1.X : p2.X, p1.Y < p2.Y ? p1.Y : p2.Y);
diagonal = new Vector3D(Math.Abs(p1.X - p2.X), Math.Abs(p1.Y - p2.Y), 0);
}
public RegularRectangle(double top, double bottom, double right, double left)
{
starting_point = new Point2D(left, bottom);
diagonal = new Vector3D(right - left, top - bottom, 0);
}
/// <summary>
/// 図形パスを構成する<c>Point2D</c>を追加する．
/// </summary>
/// <param name="p"></param>
public void AddPoint(Point2D p)
{
points.Add(p);
if (p.X < min_x)
{
min_x = p.X;
}
else if (p.X > max_x)
{
max_x = p.X;
}
if (p.Y < min_y)
{
min_y = p.Y;
}
else if (p.Y > max_y)
{
max_y = p.Y;
}
if (points.Count == 2)
{
lines.Add(new LineSegment2D(points[0], points[1]));
}
else if (points.Count == 3)
{
lines.Add(new LineSegment2D(points[1], points[2]));
lines.Add(new LineSegment2D(points[2], points[0]));
}
else
{
lines.RemoveAt(lines.Count - 1);
lines.Add(new LineSegment2D(points[points.Count - 2], points[points.Count - 1]));
lines.Add(new LineSegment2D(points[points.Count - 1], points[0]));
}
}
