private void btn_test_Click(object sender, EventArgs e)
{
PositionElement pStart = new PositionElement();
pStart.X = 30; pStart.Y = 550;
PositionElement pEnd = new PositionElement();
pEnd.X = 30; pEnd.Y = 30;
PositionZoneTravail pZone = new PositionZoneTravail();
pZone.A.X = 0;
pZone.A.Y = 0;
pZone.B.X = 800;
pZone.B.Y = 600;
//AStar astar = new AStar(pStart, pEnd, pZone);
//Track tr = astar.CalculerTrajectoire();
Bitmap bitmap = new Bitmap(pZone.B.X, pZone.B.Y);
//dessinerTrack(bitmap, tr.Positions);
pictureBox1.Image = bitmap;
/* Point c = new Point(pEnd.X, pEnd.Y);
* dessinerPoint(bitmap, c, Brushes.Red);
*
* c = new Point(pStart.X, pStart.Y);
* dessinerPoint(bitmap, c, Brushes.Green);*/
}
/* Fonction zone de travail */
private void UpdateTailleTerain(int x, int y)
{
PositionZoneTravail Pzt = new PositionZoneTravail();
Pzt.A.X = 0;
Pzt.A.Y = 0;
Pzt.B.X = x;
Pzt.B.Y = y;
envoieListe(Pzt);
}
private void envoieListe(PositionZoneTravail PositionTravail)
{
if (OnUpdatePositionZoneTravail == null)
{
return;
}
UpdatePositionZoneTravailEventArgs a = new UpdatePositionZoneTravailEventArgs(PositionTravail);
OnUpdatePositionZoneTravail(this, a);
}
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);
}
public void SetZoneTravail(PositionZoneTravail position)
{
this._ZoneTravail = position;
}
public void UpdatePositionZoneTravail(PositionZoneTravail Zone)
{
_bInfosZoneTravail = true;
_TrackMaker.SetZoneTravail(Zone);
tickIA();
}
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;
}