public boolean doublons(ArrayList<Noeud> liste, Noeud noeud) {
for (int i = 0; i < liste.size(); i++) {
if (liste.get(i).getPosX() == noeud.getPosX() && liste.get(i).getPosY() == noeud.getPosY()) {
return true;
}
}
return false;
}
public ArrayList<Patch> AStar(Humain h, Patch cible) {
int[][] map = new int[h.getWorldWidth()][h.getWorldHeight()];
int minx = Math.min(cible.x, h.xcor());
int maxx = Math.max(cible.x, h.xcor());
int miny = Math.min(cible.y, h.ycor());
int maxy = Math.max(cible.y, h.ycor());
int addi = 0;
int nb = 0;
int min = 10000;
for (int l = 0; l < Configuration.terrains.size(); l++) {
if (Configuration.terrains.get(l).getInfranchissable() == false) {
nb++;
addi += Configuration.terrains.get(l).getPassabilite();
if (Configuration.terrains.get(l).getPassabilite() < min) {
min = Configuration.terrains.get(l).getPassabilite();
}
}
}
int defaut = min /*addi/nb*/;
for (int i = minx - Configuration.VisionRadius * 6;
i < maxx + Configuration.VisionRadius * 6;
i++) {
for (int j = miny - Configuration.VisionRadius * 4;
j < maxy + Configuration.VisionRadius * 4;
j++) {
if (i > 0 && i < h.getWorldWidth() && j > 0 && j < h.getWorldHeight()) {
map[i][j] = defaut;
}
}
}
for (int i = 0; i < Configuration.VisionRadius * 2; i++) {
for (int j = 0; j < Configuration.VisionRadius * 2; j++) {
// Color couleur = h.getPatchColorAt(i - h.getVisionRadius(), j - h.getVisionRadius());
if (h.xcor() + i - Configuration.VisionRadius < h.getWorldWidth()
&& h.ycor() + j - Configuration.VisionRadius < h.getWorldHeight()
&& h.xcor() + i - Configuration.VisionRadius > 0
&& h.ycor() + j - Configuration.VisionRadius > 0) {
int passabilite =
Configuration.couleurs_terrains
.get(
h.getPatchAt(i - Configuration.VisionRadius, j - Configuration.VisionRadius)
.getColor())
.getPassabilite();
if (h.smellAt("passage", i - Configuration.VisionRadius, j - Configuration.VisionRadius)
> 0) {
map[h.xcor() + i - Configuration.VisionRadius][
h.ycor() + j - Configuration.VisionRadius] =
(int)
(passabilite
- (passabilite
/ 2
* 1
/ h.smellAt(
"passage",
i - Configuration.VisionRadius,
j - Configuration.VisionRadius)));
} else {
map[h.xcor() + i - Configuration.VisionRadius][
h.ycor() + j - Configuration.VisionRadius] =
passabilite;
}
if (h.getPatchAt(i - Configuration.VisionRadius, j - Configuration.VisionRadius)
.isMarkPresent("Route")) {
map[h.xcor() + i - Configuration.VisionRadius][
h.ycor() + j - Configuration.VisionRadius] =
map[h.xcor() + i - Configuration.VisionRadius][
h.ycor() + j - Configuration.VisionRadius]
/ 2;
}
if (Configuration.couleurs_terrains
.get(
h.getPatchAt(i - Configuration.VisionRadius, j - Configuration.VisionRadius)
.getColor())
.getInfranchissable()
== true) {
map[h.xcor() + i - Configuration.VisionRadius][
h.ycor() + j - Configuration.VisionRadius] =
Integer.MAX_VALUE;
}
}
}
}
/* for(int i = 0; i < map.length; i++)
{
System.out.print("[");
for(int j = 0;j < map[i].length;j++)
{
if(map[i][j] != 1000)
{
System.out.print(map[i][j]);
}
}
System.out.println("]");
}*/
ArrayList<Noeud> liste_noeud = new ArrayList<Noeud>();
ArrayList<Noeud> open_list = new ArrayList<Noeud>();
ArrayList<Noeud> close_list = new ArrayList<Noeud>();
Noeud noeud = new Noeud(h.getPatch().x, h.getPatch().y, 0, 0);
noeud.setDistanceRacine(0);
close_list.add(noeud);
liste_noeud.add(noeud);
int cpt = 1;
for (int i = -1; i < 2; i++) {
for (int j = -1; j < 2; j++) {
int x = noeud.getPosX();
int y = noeud.getPosY();
if ((x + i < h.getWorldWidth() && x + i > 0)
&& (y + j < h.getWorldHeight() && y + j > 0)
&& (i != 0 || j != 0)
&& map[x + i][y + j] != Integer.MAX_VALUE) {
Noeud noeu = new Noeud(x + i, y + j, 0, cpt);
int distanceRacine = map[x + i][y + j];
noeu.setDistanceRacine(distanceRacine);
open_list.add(noeu);
liste_noeud.add(noeu);
cpt++;
}
}
}
/*System.out.println("Open_list 1 : ");
for(int i = 0; i < open_list.size();i++)
{
System.out.println("Noeud : "+open_list.get(i).getId()+" x : "+open_list.get(i).getPosX()+" y : "+open_list.get(i).getPosY()+ " distance : "+open_list.get(i).getDistanceRacine());
}*/
Noeud suivant = h.PlusProcheNoeud(open_list, cible);
if (suivant != null) {
/*if(suivant.getParent() != noeud.getId())
{
for(int i = 0; i< close_list.size();i++)
{
if(close_list.get(i).getId() > suivant.getParent())
{
close_list.remove(i);
}
}
}*/
close_list.add(suivant);
}
// System.out.println("close_list 1 : " + close_list);
noeud = suivant;
while (noeud != null && (noeud.getPosX() != cible.x || noeud.getPosY() != cible.y)) {
// System.out.println("Agent : "+h.getID()+" Noeud suivant : "+noeud.getId()+ " x :
// "+noeud.getPosX()+ " y : "+noeud.getPosY()+ " parent : "+noeud.getParent()+ " x cible :
// "+cible.x+" y cible : "+cible.y);
open_list.remove(noeud);
for (int i = -1; i < 2; i++) {
for (int j = -1; j < 2; j++) {
int x = noeud.getPosX();
int y = noeud.getPosY();
if ((x + i < h.getWorldWidth() && x + i > 0)
&& (y + j < h.getWorldHeight() && y + j > 0)
&& (i != 0 || j != 0)
&& map[x + i][y + j] != Integer.MAX_VALUE) {
Noeud noeu = new Noeud(x + i, y + j, noeud.getId(), cpt);
if (!doublons(open_list, noeu)) {
int distanceRacine = map[x + i][y + j] + noeud.getDistanceRacine();
noeu.setDistanceRacine(distanceRacine);
open_list.add(noeu);
liste_noeud.add(noeu);
cpt++;
// System.out.println("Nouveau noeud "+noeu.getId()+" x : "+noeu.getPosX() + " y :
// "+noeu.getPosY());
}
}
}
}
suivant = h.PlusProcheNoeud(open_list, cible);
if (suivant != null) {
/*if(suivant.getParent() != noeud.getId())
{
for(int i = 0; i< close_list.size();i++)
{
if(close_list.get(i).getId() > suivant.getParent())
{
close_list.remove(i);
}
}
}*/
close_list.add(suivant);
}
noeud = suivant;
}
ArrayList<Patch> liste = new ArrayList<Patch>();
/* for(int i = 0;i < close_list.size();i++)
{
int x = close_list.get(i).getPosX();
int y = close_list.get(i).getPosY();
if(map[x][y] >= Configuration.VitesseEstimeeParDefaut)
{
return liste;
}
else
{
liste.add(0,h.getPatchAt(x - h.position.x, y - h.position.y));
}
}*/
Noeud nodesui = close_list.get(close_list.size() - 1);
while (!(nodesui.getPosX() == h.getPatch().x && nodesui.getPosY() == h.getPatch().y)) {
int x = nodesui.getPosX();
int y = nodesui.getPosY();
liste.add(0, h.getPatchAt(x - h.getPatch().x, y - h.getPatch().y));
nodesui = liste_noeud.get(nodesui.getParent());
}
// System.out.println("Debut ");
for (int i = 0; i < liste.size(); i++) {
int x = liste.get(i).x;
int y = liste.get(i).y;
if (x > h.xcor() + Configuration.VisionRadius
|| x < h.xcor() - Configuration.VisionRadius
|| y > h.ycor() + Configuration.VisionRadius
|| y < h.ycor() - Configuration.VisionRadius) {
if (i == 0) {
// System.out.println("test");
h.setHeading(Math.random() * 360.);
h.fd(1);
}
// System.out.println("Fin 1 "+"cible x : "+cible.x+" cible y :"+cible.y);
return liste;
}
// System.out.println("Pos => x : "+x + " y : "+y);
}
// System.out.println("Pos => x : "+h.xcor() + " y : "+h.ycor());
// System.out.println("Fin 2 cible x : "+cible.x+" cible y :"+cible.y);
return liste;
}