Exemplo n.º 1
0
 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;
 }
Exemplo n.º 2
0
  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;
  }