public Noeud(Vector2 position, bool isWalkable, int cout, Noeud parent)
{
Position = position;
IsWalkable = isWalkable;
CoutG = 1;
CoutF = cout;
Parent = parent;
}
public static List<Noeud> TrouverChemin(Vector2 depart, Vector2 arrivee, Vector2 taille, List<Unite> unites, Noeud[,] batiments, bool champion)
{
Noeud[,] Map = (Noeud[,])batiments.Clone(); // INITIALISATION DU POIDS DES NOEUDS ET DES OBSTACLES
Initialiser(Map, taille, arrivee, unites);
List<Noeud> closedList = new List<Noeud> { };
// DEBUG SOUTENANCE PAS LE TEMPS
if(depart.X < 0)
depart = new Vector2(0, depart.Y);
if (depart.Y < 0)
depart = new Vector2(depart.X, 0);
List<Noeud> openList = new List<Noeud> { Map[(int)depart.X,(int)depart.Y] };
if (arrivee.X >= 0 && arrivee.Y >= 0 && arrivee.X < taille.X && arrivee.Y < taille.Y && Map[(int)arrivee.X, (int)arrivee.Y].IsWalkable) // SI ON NE SORT PAS DE LA Map ET QUE L'ON PEUT MARCHER SUR LE POINT D'ARRIVEE
{
Noeud noeudDepart = Map[(int)depart.X, (int)depart.Y];
Noeud noeudArrivee = Map[(int)arrivee.X, (int)arrivee.Y];
noeudDepart.CoutG = 0;
noeudDepart.CoutF = noeudDepart.CoutG + GetHeuristic(depart, arrivee);
while (openList.Count() != 0)
{
openList = PlusPetitNoeud(openList);
Noeud current = openList[0];
if (current.Position == noeudArrivee.Position)
{
if(closedList.Count > 0)
closedList.RemoveAt(0);
closedList.Add(current);
return ReconstructPath(closedList, current);
}
openList.RemoveAt(0);
closedList.Add(current);
List<Noeud> voisins = Voisins(current, Map, champion);
foreach (Noeud v in voisins)
if (NoeudInList(v, closedList))
continue;
else
{
int tentative_g_score = current.CoutG + 1;
if (!NoeudInList(v, closedList) || tentative_g_score <= v.CoutG)
{
v.Parent = current;
v.CoutG = tentative_g_score;
v.CoutF = v.CoutG + GetHeuristic(v.Position, arrivee);
if (!NoeudInList(v, openList))
openList.Add(v);
}
}
}
}
return null;
}
// Aide à deboguer
public static string Draw(Noeud[,] Map)
{
string MapString = "";
for (int j = 0; j < Map.GetLength(1); j++)
{
for (int i = 0; i < Map.GetLength(0); i++)
if (Map[i,j].IsWalkable)
MapString += " ";
else
MapString += "X";
MapString += "\n";
}
MapString += "\n";
return MapString;
}
public static Noeud[,] Initialiser(Noeud[,] Map, Vector2 taille, Vector2 arrivee, List <Unite> unites)
{
// Prend en compte les unites
foreach (Unite o in unites)
{
if (o != null)
{ // debug osutenance 3
if (o.PositionTile.X < 0)
{
o.PositionTile = new Vector2(0, o.PositionTile.Y);
}
if (o.PositionTile.Y < 0)
{
o.PositionTile = new Vector2(o.PositionTile.X, 0);
}
if (Map[(int)o.PositionTile.X, (int)o.PositionTile.Y] == null)
{
Map[(int)o.PositionTile.X, (int)o.PositionTile.Y] = new Noeud(o.PositionTile, false, 1);
}
}
}
// Remplis les cases qui sont "marchables"
AForge.Parallel.For(0, (int)taille.Y, delegate(int j)
{
for (int i = 0; i < taille.X; i++)
{
if (Map[i, j] == null)
{
Map[i, j] = new Noeud(new Vector2(i, j), true, GetHeuristic(arrivee, new Vector2(i, j)));
}
}
});
return(Map);
}
public static Noeud[,] Initialiser(Noeud[,] Map, Vector2 taille, Vector2 arrivee, List<Unite> unites)
{
// Prend en compte les unites
foreach (Unite o in unites)
if (o != null)
{// debug osutenance 3
if (o.PositionTile.X < 0)
o.PositionTile = new Vector2(0, o.PositionTile.Y);
if (o.PositionTile.Y < 0)
o.PositionTile = new Vector2(o.PositionTile.X, 0);
if (Map[(int)o.PositionTile.X, (int)o.PositionTile.Y] == null)
Map[(int)o.PositionTile.X, (int)o.PositionTile.Y] = new Noeud(o.PositionTile, false, 1);
}
// Remplis les cases qui sont "marchables"
AForge.Parallel.For(0, (int)taille.Y, delegate(int j)
{
for (int i = 0; i < taille.X; i++)
if (Map[i, j] == null)
Map[i, j] = new Noeud(new Vector2(i, j), true, GetHeuristic(arrivee, new Vector2(i, j)));
});
return Map;
}
static List <Noeud> Voisins(Noeud current, Noeud[,] Map, bool enableDiagonales)
{
Noeud noeud = null;
List <Noeud> voisins = new List <Noeud> {
};
// TOP
if (current.Position.Y - 1 >= 0 && Map[(int)current.Position.X, (int)current.Position.Y - 1].IsWalkable)
{
noeud = Map[(int)current.Position.X, (int)current.Position.Y - 1];
voisins.Add(noeud);
}
// RIGHT
if (current.Position.X + 1 < Map.GetLength(0) && Map[(int)current.Position.X + 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X + 1, (int)current.Position.Y];
voisins.Add(noeud);
}
// BOT
if (current.Position.Y + 1 < Map.GetLength(1) && Map[(int)current.Position.X, (int)current.Position.Y + 1].IsWalkable)
{
noeud = Map[(int)current.Position.X, (int)current.Position.Y + 1];
voisins.Add(noeud);
}
// LEFT
if (current.Position.X - 1 >= 0 && Map[(int)current.Position.X - 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X - 1, (int)current.Position.Y];
voisins.Add(noeud);
}
// TOP LEFT
if (current.Position.Y - 1 >= 0 && current.Position.X - 1 >= 0 &&
Map[(int)current.Position.X - 1, (int)current.Position.Y - 1].IsWalkable &&
Map[(int)current.Position.X - 1, (int)current.Position.Y].IsWalkable &&
Map[(int)current.Position.X, (int)current.Position.Y - 1].IsWalkable)
{
noeud = Map[(int)current.Position.X - 1, (int)current.Position.Y - 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
// TOP RIGHT
if (current.Position.Y - 1 >= 0 && current.Position.X + 1 < Map.GetLength(0) &&
Map[(int)current.Position.X + 1, (int)current.Position.Y - 1].IsWalkable &&
Map[(int)current.Position.X, (int)current.Position.Y - 1].IsWalkable &&
Map[(int)current.Position.X + 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X + 1, (int)current.Position.Y - 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
// BOT LEFT
if (current.Position.X - 1 >= 0 && current.Position.Y + 1 < Map.GetLength(1) &&
Map[(int)current.Position.X - 1, (int)current.Position.Y + 1].IsWalkable &&
Map[(int)current.Position.X - 1, (int)current.Position.Y].IsWalkable &&
Map[(int)current.Position.X, (int)current.Position.Y + 1].IsWalkable)
{
noeud = Map[(int)current.Position.X - 1, (int)current.Position.Y + 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
// BOT RIGHT
if (current.Position.X + 1 < Map.GetLength(0) && current.Position.Y + 1 < Map.GetLength(1) &&
Map[(int)current.Position.X + 1, (int)current.Position.Y + 1].IsWalkable &&
Map[(int)current.Position.X, (int)current.Position.Y + 1].IsWalkable &&
Map[(int)current.Position.X + 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X + 1, (int)current.Position.Y + 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
return(voisins);
}
public static List <Noeud> TrouverChemin(Vector2 depart, Vector2 arrivee, Vector2 taille, List <Unite> unites, Noeud[,] batiments, bool champion)
{
Noeud[,] Map = (Noeud[, ])batiments.Clone(); // INITIALISATION DU POIDS DES NOEUDS ET DES OBSTACLES
Initialiser(Map, taille, arrivee, unites);
List <Noeud> closedList = new List <Noeud> {
};
// DEBUG SOUTENANCE PAS LE TEMPS
if (depart.X < 0)
{
depart = new Vector2(0, depart.Y);
}
if (depart.Y < 0)
{
depart = new Vector2(depart.X, 0);
}
List <Noeud> openList = new List <Noeud> {
Map[(int)depart.X, (int)depart.Y]
};
if (arrivee.X >= 0 && arrivee.Y >= 0 && arrivee.X < taille.X && arrivee.Y < taille.Y && Map[(int)arrivee.X, (int)arrivee.Y].IsWalkable) // SI ON NE SORT PAS DE LA Map ET QUE L'ON PEUT MARCHER SUR LE POINT D'ARRIVEE
{
Noeud noeudDepart = Map[(int)depart.X, (int)depart.Y];
Noeud noeudArrivee = Map[(int)arrivee.X, (int)arrivee.Y];
noeudDepart.CoutG = 0;
noeudDepart.CoutF = noeudDepart.CoutG + GetHeuristic(depart, arrivee);
while (openList.Count() != 0)
{
openList = PlusPetitNoeud(openList);
Noeud current = openList[0];
if (current.Position == noeudArrivee.Position)
{
if (closedList.Count > 0)
{
closedList.RemoveAt(0);
}
closedList.Add(current);
return(ReconstructPath(closedList, current));
}
openList.RemoveAt(0);
closedList.Add(current);
List <Noeud> voisins = Voisins(current, Map, champion);
foreach (Noeud v in voisins)
{
if (NoeudInList(v, closedList))
{
continue;
}
else
{
int tentative_g_score = current.CoutG + 1;
if (!NoeudInList(v, closedList) || tentative_g_score <= v.CoutG)
{
v.Parent = current;
v.CoutG = tentative_g_score;
v.CoutF = v.CoutG + GetHeuristic(v.Position, arrivee);
if (!NoeudInList(v, openList))
{
openList.Add(v);
}
}
}
}
}
}
return(null);
}
static List<Noeud> Voisins(Noeud current, Noeud[,] Map, bool enableDiagonales)
{
Noeud noeud = null;
List<Noeud> voisins = new List<Noeud> { };
// TOP
if (current.Position.Y - 1 >= 0 && Map[(int)current.Position.X, (int)current.Position.Y - 1].IsWalkable)
{
noeud = Map[(int)current.Position.X, (int)current.Position.Y - 1];
voisins.Add(noeud);
}
// RIGHT
if (current.Position.X + 1 < Map.GetLength(0) && Map[(int)current.Position.X + 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X + 1, (int)current.Position.Y];
voisins.Add(noeud);
}
// BOT
if (current.Position.Y + 1 < Map.GetLength(1) && Map[(int)current.Position.X, (int)current.Position.Y + 1].IsWalkable)
{
noeud = Map[(int)current.Position.X, (int)current.Position.Y + 1];
voisins.Add(noeud);
}
// LEFT
if (current.Position.X - 1 >= 0 && Map[(int)current.Position.X - 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X - 1, (int)current.Position.Y];
voisins.Add(noeud);
}
// TOP LEFT
if (current.Position.Y - 1 >= 0 && current.Position.X - 1 >= 0
&& Map[(int)current.Position.X - 1, (int)current.Position.Y - 1].IsWalkable
&& Map[(int)current.Position.X - 1, (int)current.Position.Y].IsWalkable
&& Map[(int)current.Position.X, (int)current.Position.Y - 1].IsWalkable)
{
noeud = Map[(int)current.Position.X - 1, (int)current.Position.Y - 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
// TOP RIGHT
if (current.Position.Y - 1 >= 0 && current.Position.X + 1 < Map.GetLength(0)
&& Map[(int)current.Position.X + 1, (int)current.Position.Y - 1].IsWalkable
&& Map[(int)current.Position.X, (int)current.Position.Y - 1].IsWalkable
&& Map[(int)current.Position.X + 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X + 1, (int)current.Position.Y - 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
// BOT LEFT
if (current.Position.X - 1 >= 0 && current.Position.Y + 1 < Map.GetLength(1)
&& Map[(int)current.Position.X - 1, (int)current.Position.Y + 1].IsWalkable
&& Map[(int)current.Position.X - 1, (int)current.Position.Y].IsWalkable
&& Map[(int)current.Position.X, (int)current.Position.Y + 1].IsWalkable)
{
noeud = Map[(int)current.Position.X - 1, (int)current.Position.Y + 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
// BOT RIGHT
if (current.Position.X + 1 < Map.GetLength(0) && current.Position.Y + 1 < Map.GetLength(1)
&& Map[(int)current.Position.X + 1, (int)current.Position.Y + 1].IsWalkable
&& Map[(int)current.Position.X, (int)current.Position.Y + 1].IsWalkable
&& Map[(int)current.Position.X + 1, (int)current.Position.Y].IsWalkable)
{
noeud = Map[(int)current.Position.X + 1, (int)current.Position.Y + 1];
noeud.CoutF -= 1;
voisins.Add(noeud);
}
return voisins;
}
static List<Noeud> ReconstructPath(List<Noeud> ResultList, Noeud arrivee)
{
List<Noeud> TrueList = new List<Noeud> { };
arrivee.Position = arrivee.Position;
TrueList.Add(arrivee);
FonctionChapeau(ResultList, arrivee, TrueList);
TrueList.Reverse();
return TrueList;
}
static bool NoeudInList(Noeud noeud, List<Noeud> liste)
{
bool result = false;
foreach (Noeud n in liste)
if (n.Position == noeud.Position)
result = true;
return result;
}
static void FonctionChapeau(List<Noeud> ResultList, Noeud arrivee, List<Noeud> TrueList)
{
if (arrivee.Parent != null)
{
if (NoeudInList(arrivee.Parent, ResultList))
{
TrueList.Add(new Noeud(arrivee.Parent.Position, true, 0));
FonctionChapeau(ResultList, arrivee.Parent, TrueList);
}
}
else
TrueList.Add(arrivee);
}
public static void OuvrirMap(string MapName)
{
int id = LevelToInt(MapName); // numero de la carte dans le tableau
// Read the file and display it line by line.
string MapString;
if (CrystalGateGame.isTest)
MapString = "../../../Maps/" + MapName + ".txt";
else
MapString = "Maps/" + MapName + ".txt";
string line;
int longueur = 0;
int hauteur = 0;
StreamReader file = new StreamReader(@MapString);
// On lit le header pour determiner la palette et le type de terrain
switch (int.Parse(file.ReadLine()))
{
case 1: typeDeTerrain[id] = Map.TypeDeTerrain.Herbe;
Palettes[id] = PackTexture.SummerTiles;
break;
case 2: typeDeTerrain[id] = Map.TypeDeTerrain.Desert;
Palettes[id] = PackTexture.SummerTiles;
break;
case 3: typeDeTerrain[id] = Map.TypeDeTerrain.Hiver;
Palettes[id] = PackTexture.WinterTiles;
break;
case 4: typeDeTerrain[id] = Map.TypeDeTerrain.Volcanique;
Palettes[id] = PackTexture.VolcanicTiles;
break;
default: typeDeTerrain[id] = Map.TypeDeTerrain.Herbe;
Palettes[id] = PackTexture.SummerTiles;
break;
}
// On établit la longueur et la hauteur
while ((line = file.ReadLine()) != null)
{
char[] splitchar = { '|' };
if (line != null)
longueur = line.Split(splitchar).Length - 1;
hauteur++;
}
// On initialise la taille de notre map
Cellules[LevelToInt(MapName)] = new Vector2[longueur, (int)hauteur];
prohibedTiles[LevelToInt(MapName)] = new Noeud[longueur, (int)hauteur];
Taille[LevelToInt(MapName)] = new Vector2(longueur, hauteur);
// Reset
file = new StreamReader(@MapString);
file.ReadLine(); // On saute le header
int j = 0;
while ((line = file.ReadLine()) != null)
{
char[] splitchar = { '|' };
string[] tiles = line.Split(splitchar);
for (int i = 0; i < longueur; i++)
{
char[] splitchar2 = { ',' };
int x = int.Parse((tiles[i].Split(splitchar2))[0]);
int y = int.Parse((tiles[i].Split(splitchar2))[1]);
Cellules[id][i, j] = new Vector2(x, y);
// Si c'est une tile infranchissable
if (ProhibedTiles(MapName).Contains(new Vector2(x, y)))
{
// On ajoute l'obstacle au monde physique
// LES UNITES PARTAGENT LE MEME WORLD OMFG
Body bodyTemp = BodyFactory.CreateRectangle(Worlds[id], ConvertUnits.ToSimUnits(32), ConvertUnits.ToSimUnits(32), 100f);
bodyTemp.Position = ConvertUnits.ToSimUnits(new Vector2(i, j) * Map.TailleTiles + new Vector2(16, 16));
prohibedTiles[id][i, j] = new Noeud(new Vector2(i, j), false, 1);
}
}
j++;
}
file.Close();
}
public static void OuvrirMap(string MapName)
{
int id = LevelToInt(MapName); // numero de la carte dans le tableau
// Read the file and display it line by line.
string MapString;
if (CrystalGateGame.isTest)
{
MapString = "../../../Maps/" + MapName + ".txt";
}
else
{
MapString = "Maps/" + MapName + ".txt";
}
string line;
int longueur = 0;
int hauteur = 0;
StreamReader file = new StreamReader(@MapString);
// On lit le header pour determiner la palette et le type de terrain
switch (int.Parse(file.ReadLine()))
{
case 1: typeDeTerrain[id] = Map.TypeDeTerrain.Herbe;
Palettes[id] = PackTexture.SummerTiles;
break;
case 2: typeDeTerrain[id] = Map.TypeDeTerrain.Desert;
Palettes[id] = PackTexture.SummerTiles;
break;
case 3: typeDeTerrain[id] = Map.TypeDeTerrain.Hiver;
Palettes[id] = PackTexture.WinterTiles;
break;
case 4: typeDeTerrain[id] = Map.TypeDeTerrain.Volcanique;
Palettes[id] = PackTexture.VolcanicTiles;
break;
default: typeDeTerrain[id] = Map.TypeDeTerrain.Herbe;
Palettes[id] = PackTexture.SummerTiles;
break;
}
// On établit la longueur et la hauteur
while ((line = file.ReadLine()) != null)
{
char[] splitchar = { '|' };
if (line != null)
{
longueur = line.Split(splitchar).Length - 1;
}
hauteur++;
}
// On initialise la taille de notre map
Cellules[LevelToInt(MapName)] = new Vector2[longueur, (int)hauteur];
prohibedTiles[LevelToInt(MapName)] = new Noeud[longueur, (int)hauteur];
Taille[LevelToInt(MapName)] = new Vector2(longueur, hauteur);
// Reset
file = new StreamReader(@MapString);
file.ReadLine(); // On saute le header
int j = 0;
while ((line = file.ReadLine()) != null)
{
char[] splitchar = { '|' };
string[] tiles = line.Split(splitchar);
for (int i = 0; i < longueur; i++)
{
char[] splitchar2 = { ',' };
int x = int.Parse((tiles[i].Split(splitchar2))[0]);
int y = int.Parse((tiles[i].Split(splitchar2))[1]);
Cellules[id][i, j] = new Vector2(x, y);
// Si c'est une tile infranchissable
if (ProhibedTiles(MapName).Contains(new Vector2(x, y)))
{
// On ajoute l'obstacle au monde physique
// LES UNITES PARTAGENT LE MEME WORLD OMFG
Body bodyTemp = BodyFactory.CreateRectangle(Worlds[id], ConvertUnits.ToSimUnits(32), ConvertUnits.ToSimUnits(32), 100f);
bodyTemp.Position = ConvertUnits.ToSimUnits(new Vector2(i, j) * Map.TailleTiles + new Vector2(16, 16));
prohibedTiles[id][i, j] = new Noeud(new Vector2(i, j), false, 1);
}
}
j++;
}
file.Close();
}
