/**
* Calculates the <b>Displacement</b> of the (dynamic) provided <b>Intrude</b>.</br> - If the
* <b>Intrude</b> has a <b>Guardian</b> in his field of vision, he tries to avoid it. </br> (If
* surrounded he "panics" and moves randomly). </br> - Otherwise, the <b>Intrude</b> moves
* randomly. </br>
*
* @param intrude : the <b>Intrude</b> to move.
* @return the corresponding <b>Displacement</b>.
*/
public Displacement intrudeDisplacementCalculation(Intrude intrude) {
if (intrude.getGuardiansSpot().size()
== 0) { // deplacement random puisque aucun guardien a proximite
return randomDisplacement();
} else { // eviter les intrus
HashMap<Displacement, Boolean> safeZone = new HashMap<Displacement, Boolean>();
ArrayList<Displacement> guardiansPositions = new ArrayList<Displacement>();
for (Coordinate coordTemp : intrude.getGuardiansSpot()) {
guardiansPositions.add(relativePosition(intrude.getPosition(), coordTemp));
}
if (guardiansPositions.contains(Displacement.NORTH)) {
safeZone.put(Displacement.NORTH, false);
} else safeZone.put(Displacement.NORTH, true);
if (guardiansPositions.contains(Displacement.SOUTH)) {
safeZone.put(Displacement.SOUTH, false);
} else safeZone.put(Displacement.SOUTH, true);
if (guardiansPositions.contains(Displacement.WEST)) {
safeZone.put(Displacement.WEST, false);
} else safeZone.put(Displacement.WEST, true);
if (guardiansPositions.contains(Displacement.EAST)) {
safeZone.put(Displacement.EAST, false);
} else safeZone.put(Displacement.EAST, true);
if (!(safeZone.get(Displacement.EAST)
|| safeZone.get(Displacement.WEST)
|| safeZone.get(Displacement.SOUTH)
|| safeZone.get(Displacement.NORTH))) {
return randomDisplacement();
} else {
if (safeZone.get(Displacement.EAST)
&& intrude.getPosition().getCoordX() < grid.getDimension() - 1)
return Displacement.EAST;
else if (safeZone.get(Displacement.WEST) && intrude.getPosition().getCoordX() > 0)
return Displacement.WEST;
else if (safeZone.get(Displacement.NORTH) && intrude.getPosition().getCoordY() > 0)
return Displacement.NORTH;
else if (safeZone.get(Displacement.SOUTH)
&& intrude.getPosition().getCoordY() < grid.getDimension() - 1)
return Displacement.SOUTH;
else return Displacement.NONE;
}
}
}
/**
* Bresenham's line algorithm. </ Br> Used to calculate the field of view.</br>
*
* @param coordA : starting point of the segment.
* @param coordB : arrival point of the segment.
* @return a list of <b>Coordinates</b> composing the segment.
*/
public ArrayList<Coordinate> drawSegment(Coordinate coordA, Coordinate coordB) {
// details des coordonnées
int xA = coordA.getCoordX();
int yA = coordA.getCoordY();
int xB = coordB.getCoordX();
int yB = coordB.getCoordY();
// tockage des coordonnées intermediaires
ArrayList<Coordinate> segmentAToB = new ArrayList<Coordinate>();
int dx, dy, i, xinc, yinc, cumul, x, y;
x = xA;
y = yA;
dx = xB - xA;
dy = yB - yA;
xinc = (dx > 0) ? 1 : -1;
yinc = (dy > 0) ? 1 : -1;
dx = Math.abs(dx);
dy = Math.abs(dy);
if (dx > dy) {
cumul = dx / 2;
for (i = 1; i <= dx; i++) {
if (grid.isOpaque(new Coordinate(x, y))) break;
x = x + xinc;
cumul += dy;
if (cumul >= dx) {
cumul = cumul - dx;
y = y + yinc;
}
segmentAToB.add(new Coordinate(x, y));
}
} else {
cumul = dy / 2;
for (i = 1; i <= dy; i++) {
if (grid.isOpaque(new Coordinate(x, y))) break;
y = y + yinc;
cumul = cumul + dx;
if (cumul >= dy) {
cumul -= dy;
x = x + xinc;
}
segmentAToB.add(new Coordinate(x, y));
}
}
return segmentAToB;
}
/**
* Calculates a field of view of a lenght of 5 (5 squares in straight line).
*
* @param coordSource : position from which to calculate the field of view.
* @return a list of <b>Coordinates</b> composing the field of view.
*/
public ArrayList<Coordinate> visualFieldCalculation(Coordinate coordSource) {
int champDeVision = 5;
int coordX = coordSource.getCoordX();
int coordY = coordSource.getCoordY();
ArrayList<Coordinate> unsortedVisible = new ArrayList<Coordinate>();
for (int i = -champDeVision; i <= champDeVision; i++) {
for (int j = -champDeVision; j <= champDeVision; j++) {
if (Math.abs(i) + Math.abs(j) < champDeVision + 3
&& coordX + i >= 0
&& coordX + i < grid.getDimension()
&& coordY + j >= 0
&& coordY + j < grid.getDimension()) {
unsortedVisible.addAll(drawSegment(coordSource, new Coordinate(coordX + i, coordY + j)));
}
}
}
unsortedVisible.add(coordSource);
Set<Coordinate> mySet = new HashSet<Coordinate>(unsortedVisible);
ArrayList<Coordinate> sortedVisible = new ArrayList<Coordinate>(mySet);
return sortedVisible;
}
/**
* Calculates patrol's <b>Coordinates</b>.</br>
*
* @param guardians : a list of <b>Guardians</b> to share the patrol.
* @return a list containing the <b>Coordinates</b> checkpoints of the patrol. (Debug)
*/
public ArrayList<Coordinate> calculCoordinatesPatrouille(ArrayList<Guardian> guardians) {
// long debut = System.currentTimeMillis();
int dimension = grid.getDimension();
// ArrayList de coordonnees pour l'itineraire de patrouille
ArrayList<Coordinate> validCoordinates = new ArrayList<Coordinate>();
// ArrayList de coordonnees pour l'itineraire de patrouille
// HashMap de coordonnees, et de l'ArrayList contenant le champ de vision a partir de cette
// coordoneee
HashMap<Coordinate, ArrayList<Coordinate>> visible =
new HashMap<Coordinate, ArrayList<Coordinate>>();
// init ArrayList, tableau et HashMap
for (int i = 0; i < dimension; i++) {
for (int j = 0; j < dimension; j++) {
Coordinate coordTemp = new Coordinate(i, j);
// System.out.println(grid);
if (grid.isValid(coordTemp) && grid.isDirectlyAccessible(coordTemp)) {
validCoordinates.add(coordTemp);
visible.put(coordTemp, visualFieldCalculation(coordTemp));
}
}
}
// Remplissage d'une HashMap avec les gardians pour Cle, et une ArrayList de coordonnees
// atteignables en Valeur
HashMap<Guardian, ArrayList<Coordinate>> guardianToCoordinates =
new HashMap<Guardian, ArrayList<Coordinate>>();
for (Guardian guard : guardians) {
ArrayList<Coordinate> accessibleCoordinatesGuardian = new ArrayList<Coordinate>();
for (Coordinate coord : validCoordinates) {
ArrayList<Coordinate> itineraireTemp = routeCalculation(guard.getPosition(), coord, false);
if (itineraireTemp.size() > 2
|| areAdjacent(guard.getPosition(), coord)) // Coord accessible
accessibleCoordinatesGuardian.add(coord);
}
accessibleCoordinatesGuardian.add(guard.getPosition());
Collections.sort(accessibleCoordinatesGuardian, new Tri.SortByCoordinate());
guardianToCoordinates.put(guard, accessibleCoordinatesGuardian);
}
// System.out.println(guardianVersCoordinates);
// System.out.println();
// System.out.println();
// Fusion en ArrayList si plusieurs gardiens ont les mêmes coordonnees atteignables
HashMap<ArrayList<Coordinate>, ArrayList<Guardian>> coordinatesToGuardians =
new HashMap<ArrayList<Coordinate>, ArrayList<Guardian>>();
for (Guardian guard : guardians) {
ArrayList<Guardian> guardiansCoord =
coordinatesToGuardians.get(guardianToCoordinates.get(guard));
if (guardiansCoord == null) {
guardiansCoord = new ArrayList<Guardian>();
}
if (!guardiansCoord.contains(guard)) guardiansCoord.add(guard);
coordinatesToGuardians.put(guardianToCoordinates.get(guard), guardiansCoord);
}
// System.out.println(coordinatesVersGuardian);
// A ce moment, coordinatesVersGuardian contient des ArrayList de coordonnees atteignables
// comme clé,
// et des ArrayList des guardiens qui peuvent les atteindre comme valeur
// HashMap inverse de CoordinatesVersGuardians
HashMap<ArrayList<Guardian>, ArrayList<Coordinate>> guardiansToCoordinates =
new HashMap<ArrayList<Guardian>, ArrayList<Coordinate>>();
for (ArrayList<Coordinate> alCoord : coordinatesToGuardians.keySet()) {
guardiansToCoordinates.put(coordinatesToGuardians.get(alCoord), alCoord);
}
// initialisation des coordonnes a visiter pour effectuer la patrouille (checkpoint)
// ne represente pas l'itineraire
// ne garde que quelques coordonnes cles
ArrayList<Coordinate> patrolCoordinates = new ArrayList<Coordinate>(validCoordinates);
// calculer si un ensemble d'ArrayList de coordonnees ne contiendrait pas par hasard toutes les
// coordonnees visibles depuis une certaine coordonnee
// calculer si le fait de supprimer une coordonnee enleve des cases visibles a l'ArrayList
for (int i = 0; i < patrolCoordinates.size(); i++) {
ArrayList<Coordinate> coordinatesMinusOne = new ArrayList<Coordinate>();
ArrayList<Coordinate> unsortedVisibleCoordinatesMinusOne = new ArrayList<Coordinate>();
ArrayList<Coordinate> sortedVisibleCoordinatesMinusOne = new ArrayList<Coordinate>();
for (Coordinate coordTest : patrolCoordinates) {
coordinatesMinusOne.add(coordTest);
}
Coordinate coordReference = patrolCoordinates.get(i);
coordinatesMinusOne.remove(coordReference);
for (Coordinate coordTemp : coordinatesMinusOne) {
unsortedVisibleCoordinatesMinusOne.addAll(visible.get(coordTemp));
}
Set<Coordinate> mySet = new HashSet<Coordinate>(unsortedVisibleCoordinatesMinusOne);
sortedVisibleCoordinatesMinusOne.addAll(mySet);
if (sortedVisibleCoordinatesMinusOne.containsAll(validCoordinates)) {
patrolCoordinates.remove(coordReference);
i--;
}
}
return patrolCoordinates;
}
/**
* Implementation of <b>Dijkstra's algorithm</b>.
*
* @param sourceDisplacement : source <b>Coordinate</b>.
* @param destinationDisplacement : destination <b>Coordinate</b>.
* @param avoidGuardian : a boolean which indicates whether to consider <b>Guardians</b> (<code>
* true</code>) or not (<code>false</code>) when calculating the route. (Used to calculate a
* route patrol regardless of the position of <b>Guardians</b>).
* @return a list containing <b>Coordinates</b> steps to move from source <b>Coordinate</b>
* (included) to destination <b>Coordinate</b> (included).
*/
public ArrayList<Coordinate> routeCalculation(
Coordinate sourceDisplacement, Coordinate destinationDisplacement, boolean avoidGuardian) {
if (areAdjacent(sourceDisplacement, destinationDisplacement)
&& grid.isValidGuardian(destinationDisplacement)) {
ArrayList<Coordinate> route = new ArrayList<Coordinate>();
route.add(sourceDisplacement);
route.add(destinationDisplacement);
return route;
}
// INITIALISATION
// toutes les coordonnes valables
int dimension = grid.getDimension();
Coordinate coordinates[][] = new Coordinate[dimension][dimension];
for (int i = 0; i < dimension; i++) {
for (int j = 0; j < dimension; j++) {
coordinates[i][j] = new Coordinate(i, j);
}
}
// Coordonnees : la coordonee (cle) dont on connait la plus petite
// distance (valeur) a la source
HashMap<Coordinate, Integer> distanceSource = new HashMap<Coordinate, Integer>();
// Coordonnees : les coordonnes dont il faut verifier la distance
ArrayList<Coordinate> coordinatesToCheck = new ArrayList<Coordinate>();
// Coordonnees : les coordonnes dont on a verifié la distance
ArrayList<Coordinate> coordinatesChecked = new ArrayList<Coordinate>();
// tableau contenant l'ordre des cases pour le (un des) plus court
// chemin pour chaque case
// 1ere coordonnee (cle) : coordonnee dont on veut connaitre le
// predecesseur
// 2em coordonee (valeur) : predecesseur de la coordonnee cle
HashMap<Coordinate, Coordinate> predecessorCoordinate = new HashMap<Coordinate, Coordinate>();
// source du deplacement
Coordinate source = coordinates[sourceDisplacement.getCoordX()][sourceDisplacement.getCoordY()];
// initialisation/remplissage de parcours
for (int i = 0; i < dimension; i++) {
for (int j = 0; j < dimension; j++) {
predecessorCoordinate.put(coordinates[i][j], source);
distanceSource.put(coordinates[i][j], Integer.MAX_VALUE);
}
}
// ajout de la source dans la Hashmap avec une distance nulle
distanceSource.put(source, 0);
// ajout de la source a l'arraylist des cases verifiees, et le reste
// dans l'arraylist des cases � verifier
for (int i = 0; i < dimension; i++) {
for (int j = 0; j < dimension; j++) {
if (avoidGuardian) {
if (grid.isValidGuardian(coordinates[i][j])) coordinatesToCheck.add(coordinates[i][j]);
} else {
if (grid.isValid(coordinates[i][j])) coordinatesToCheck.add(coordinates[i][j]);
}
}
}
coordinatesToCheck.remove(source);
coordinatesChecked.add(source);
// FIN INITIALISATION
// pour chaque case valable de la grille
for (int i = 0; i < coordinatesChecked.size(); i++) {
Coordinate coordSource = coordinatesChecked.get(i);
for (int j = 0; j < coordinatesToCheck.size(); j++) {
Coordinate coordEnCoursDeVerif = coordinatesToCheck.get(j);
if (areAdjacent(coordSource, coordEnCoursDeVerif)) {
coordinatesToCheck.remove(coordEnCoursDeVerif);
coordinatesChecked.add(coordEnCoursDeVerif);
j--;
if (distanceSource.get(coordEnCoursDeVerif)
> distanceSource.get(predecessorCoordinate.get(coordSource)) + 1) {
distanceSource.put(coordEnCoursDeVerif, distanceSource.get(coordSource) + 1);
predecessorCoordinate.put(coordEnCoursDeVerif, coordSource);
// System.out.println("Coordonnee : " + coordEnCoursDeVerif + " --- distance a la
// source "+ source +" : " +
// distanceSource.get(coordEnCoursDeVerif) + " --- predecesseur pour chemin le
// plus court : "+
// parcours.get(coordEnCoursDeVerif)+" destination "+destination);
// Coordonnee : (10,17) --- distance a la source : 27 --- predecesseur pour
// chemin le plus court : (9,17)
}
}
}
}
// construire chemin
ArrayList<Coordinate> reverseRoute = new ArrayList<Coordinate>();
ArrayList<Coordinate> route = new ArrayList<Coordinate>();
Coordinate coordTemp =
coordinates[destinationDisplacement.getCoordX()][destinationDisplacement.getCoordY()];
reverseRoute.add(destinationDisplacement);
while (!(predecessorCoordinate.get(coordTemp).equals(source))) {
reverseRoute.add(predecessorCoordinate.get(coordTemp));
coordTemp = predecessorCoordinate.get((coordTemp));
}
reverseRoute.add(source);
for (int i = 0; i < reverseRoute.size(); i++) {
route.add(reverseRoute.get(reverseRoute.size() - i - 1));
}
// itineraire.get(0) = coordSource
// itineraire.get(itineraire.size()-1) = destination
return route;
}
/**
* Calculates patrol routes (depending on reachable <b>Coordinates</b> by <b>Guardian</b>) to see
* all the <b>Grid</b>.</br> A patrol route is then assigned to each <b>Guardian</b> (If several
* <b>Guardians</b> have access to the same <b>Coordinates</b>, their patrol will be the same).
*
* @param guardians : a list of <b>Guardians</b> in order to directly assign their patrol route.
* @return a list containing all the <b>Coordinates</b> of all the patrols routes. (Debug)
*/
public ArrayList<Coordinate> patrolRouteCalculation(ArrayList<Guardian> guardians) {
// long debut = System.currentTimeMillis();
int dimension = grid.getDimension();
// ArrayList de coordonnees pour l'itineraire de patrouille
ArrayList<Coordinate> validCoordinates = new ArrayList<Coordinate>();
// ArrayList de coordonnees pour l'itineraire de patrouille
// HashMap de coordonnees, et de l'ArrayList contenant le champ de vision a partir de cette
// coordoneee
HashMap<Coordinate, ArrayList<Coordinate>> visible =
new HashMap<Coordinate, ArrayList<Coordinate>>();
// init ArrayList, tableau et HashMap
for (int i = 0; i < dimension; i++) {
for (int j = 0; j < dimension; j++) {
Coordinate coordTemp = new Coordinate(i, j);
// System.out.println(grid);
if (grid.isValid(coordTemp) && grid.isDirectlyAccessible(coordTemp)) {
validCoordinates.add(coordTemp);
visible.put(coordTemp, visualFieldCalculation(coordTemp));
}
}
}
// Remplissage d'une HashMap avec les gardians pour Cle, et une ArrayList de coordonnees
// atteignables en Valeur
HashMap<Guardian, ArrayList<Coordinate>> guardianToCoordinates =
new HashMap<Guardian, ArrayList<Coordinate>>();
for (Guardian guard : guardians) {
ArrayList<Coordinate> accessibleCoordinatesGuardian = new ArrayList<Coordinate>();
for (Coordinate coord : validCoordinates) {
ArrayList<Coordinate> itineraireTemp = routeCalculation(guard.getPosition(), coord, false);
if (itineraireTemp.size() > 2
|| areAdjacent(guard.getPosition(), coord)) // Coord accessible
accessibleCoordinatesGuardian.add(coord);
}
accessibleCoordinatesGuardian.add(guard.getPosition());
Collections.sort(accessibleCoordinatesGuardian, new Tri.SortByCoordinate());
guardianToCoordinates.put(guard, accessibleCoordinatesGuardian);
}
// System.out.println(guardianVersCoordinates);
// System.out.println();
// System.out.println();
// Fusion en ArrayList si plusieurs gardiens ont les mêmes coordonnees atteignables
HashMap<ArrayList<Coordinate>, ArrayList<Guardian>> coordinatesToGuardians =
new HashMap<ArrayList<Coordinate>, ArrayList<Guardian>>();
for (Guardian guard : guardians) {
ArrayList<Guardian> guardiansCoord =
coordinatesToGuardians.get(guardianToCoordinates.get(guard));
if (guardiansCoord == null) {
guardiansCoord = new ArrayList<Guardian>();
}
if (!guardiansCoord.contains(guard)) guardiansCoord.add(guard);
coordinatesToGuardians.put(guardianToCoordinates.get(guard), guardiansCoord);
}
// System.out.println(coordinatesVersGuardian);
// A ce moment, coordinatesVersGuardian contient des ArrayList de coordonnees atteignables
// comme clé,
// et des ArrayList des guardiens qui peuvent les atteindre comme valeur
// HashMap inverse de CoordinatesVersGuardians
HashMap<ArrayList<Guardian>, ArrayList<Coordinate>> guardiansToCoordinates =
new HashMap<ArrayList<Guardian>, ArrayList<Coordinate>>();
for (ArrayList<Coordinate> alCoord : coordinatesToGuardians.keySet()) {
guardiansToCoordinates.put(coordinatesToGuardians.get(alCoord), alCoord);
}
// initialisation des coordonnes a visiter pour effectuer la patrouille (checkpoint)
// ne represente pas l'itineraire
// ne garde que quelques coordonnes cles
ArrayList<Coordinate> globalPatrolCoordinates = new ArrayList<Coordinate>(validCoordinates);
// calculer si un ensemble d'ArrayList de coordonnees ne contiendrait pas par hasard toutes les
// coordonnees visibles depuis une certaine coordonnee
// calculer si le fait de supprimer une coordonnee enleve des cases visibles a l'ArrayList
for (int i = 0; i < globalPatrolCoordinates.size(); i++) {
ArrayList<Coordinate> coordinatesMinusOne = new ArrayList<Coordinate>();
ArrayList<Coordinate> unsortedVisibleCoordinatesMinusOne = new ArrayList<Coordinate>();
ArrayList<Coordinate> sortedVisibleCoordinatesMinusOne = new ArrayList<Coordinate>();
for (Coordinate coordTest : globalPatrolCoordinates) {
coordinatesMinusOne.add(coordTest);
}
Coordinate coordReference = globalPatrolCoordinates.get(i);
coordinatesMinusOne.remove(coordReference);
for (Coordinate coordTemp : coordinatesMinusOne) {
unsortedVisibleCoordinatesMinusOne.addAll(visible.get(coordTemp));
}
Set<Coordinate> mySet = new HashSet<Coordinate>(unsortedVisibleCoordinatesMinusOne);
sortedVisibleCoordinatesMinusOne.addAll(mySet);
if (sortedVisibleCoordinatesMinusOne.containsAll(validCoordinates)) {
globalPatrolCoordinates.remove(coordReference);
i--;
}
}
ArrayList<Coordinate> allPatrolsRoutes = new ArrayList<Coordinate>();
// debut boucle
for (ArrayList<Guardian> alGuardian : coordinatesToGuardians.values()) {
// On ne garde que les coordonnees atteignables par le groupe de gardiens
ArrayList<Coordinate> groupPatrolCoordinates =
new ArrayList<Coordinate>(globalPatrolCoordinates);
// for(Coordinates coord : coordinatesPatrouilleGroupe) {
// if(!guardiansVersCoordinates.get(alGuardian).contains(coord))
// coordinatesPatrouilleGroupe.remove(coord);
// }
for (int i = 0; i < groupPatrolCoordinates.size(); i++) {
Coordinate coord = groupPatrolCoordinates.get(i);
if (!guardiansToCoordinates.get(alGuardian).contains(coord)) {
groupPatrolCoordinates.remove(coord);
i--;
}
}
TreeMap<Integer, Coordinate> patrolRoute = new TreeMap<Integer, Coordinate>();
// Si aucun checkpoint accessible
if (groupPatrolCoordinates.size() == 0) {
for (Guardian guardTemp : alGuardian) {
guardTemp.setPatrolPosition(-2);
}
} else {
ArrayList<Coordinate> routeFinal = new ArrayList<Coordinate>();
ArrayList<Coordinate> routeTemp = new ArrayList<Coordinate>();
Coordinate coordSource = groupPatrolCoordinates.get(0);
Coordinate coordSourceTemp = coordSource;
Coordinate coordTemp = null;
int index = 0;
while (groupPatrolCoordinates.size() > 0) {
groupPatrolCoordinates.remove(coordSourceTemp);
routeFinal.clear();
routeTemp.clear();
for (Coordinate coordDestinationTemp : groupPatrolCoordinates) {
routeTemp = routeCalculation(coordSourceTemp, coordDestinationTemp, false);
// System.out.println("Itineraire " + coordSourceTemp + " vers " + coordDestinationTemp
// + " : " + itineraireTemp);
if (routeFinal.size() == 0
|| (routeTemp.size() != 0 && routeTemp.size() < routeFinal.size())) {
routeFinal = new ArrayList<Coordinate>(routeTemp);
coordTemp = coordDestinationTemp;
}
}
// System.out.println(itineraireFinal);
coordSourceTemp = coordTemp;
for (int i = 0; i < routeFinal.size() - 1; i++) {
patrolRoute.put(index, routeFinal.get(i));
index++;
}
}
// Ajout de l'itineraire pour aller e la fin de la patrouille vers le debut
routeFinal = routeCalculation(coordTemp, coordSource, false);
for (int i = 0; i < routeFinal.size() - 1; i++) {
patrolRoute.put(index, routeFinal.get(i));
index++;
}
// affectation de la patrouille a tous les gardiens, a modifier
for (Guardian guardTemp : alGuardian) {
guardTemp.setPatrol(patrolRoute);
guardTemp.setReachableCoordinates(guardiansToCoordinates.get(alGuardian));
}
allPatrolsRoutes.addAll(patrolRoute.values());
}
// fin boucle
}
// entre 100 et 1000ms en fonction de la taille (complexite lineaire)
// System.out.println(System.currentTimeMillis() - debut);
// System.out.println(itinerairePatrouille);
return allPatrolsRoutes;
}
