Пример #1
0
 /**
  * Determine if x and y need to be incremented or decremented.
  *
  * @param node
  * @return an int array of size two whose values should be added to x and y in order to move
  *     diagonally.
  */
 public int[] stepDiagonally(Node node) {
   int[] step;
   switch (node.direction) {
     case 1: // NE
       step =
           new int[] {
             NavTools.distanceLeft(node.location[0], node.location[1], map.mapY),
             NavTools.distanceLeft(node.location[0], node.location[1], map.mapX)
           };
       break;
     case 3: // SE
       step = new int[] {1, 1};
       break;
     case 5: // SW
       step = new int[] {-1, 1};
       break;
     default: // NW
       step = new int[] {-1, -1};
       break;
   }
   return step;
 }
Пример #2
0
  public Node getPath(int[] a, int[] b) {
    q = new Queue(a, b);
    while (q.front != null) { // while the queue is not empty
      Node next = q.pop(); // pop the top node on the queue

      // current position on the diagonal of the next Node
      int[] location = new int[] {next.location[0], next.location[1]};

      // distances from location to next void (x = step[0], y = step[1])
      int[] step = new int[2];

      // previous distances
      int[] lastStep;

      switch (next.direction) { // determine the direction of movement
        case 1: // direction = NE

          // initialize as the distance from this node to x and y voids
          lastStep =
              new int[] {
                NavTools.distanceRight(location[0], location[1], map.mapX),
                NavTools.distanceLeft(location[1], location[0], map.mapY)
              };

          while (lastStep[0] != 0) { // while the current location is walkable

            // check if the goal is directly reachable from this location
            if (q.goal[0] == location[0]) {
              if (q.goal[1] <= location[1]
                  && q.goal[1]
                      >= location[1] - NavTools.distanceLeft(location[1], location[0], map.mapY)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              } else if (q.goal[1] >= location[1]
                  && q.goal[1]
                      <= location[1] + NavTools.distanceRight(location[1], location[0], map.mapY)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              }
            } else if (q.goal[1] == location[1]) {
              if (q.goal[0] <= location[0]
                  && q.goal[0]
                      >= location[0] - NavTools.distanceLeft(location[0], location[1], map.mapX)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              } else if (q.goal[0] >= location[0]
                  && q.goal[0]
                      <= location[0] + NavTools.distanceRight(location[0], location[1], map.mapX)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              }
            }

            // step = distances to x and y voids & properly increment/decrement location
            step[0] = NavTools.distanceRight(++location[0], --location[1], map.mapX);
            step[1] = NavTools.distanceLeft(location[1], location[0], map.mapY);

            // difference between last and current distances
            int dX = step[0] - lastStep[0]; // should be -1

            if (dX >= 0) { // if x difference is greater than -1

              // check the number of consecutive voids at x-1+distanceRight, y-1
              int voids =
                  NavTools.distanceVoidRight(
                      location[0] + lastStep[0] - 1, location[1] + 1, map.mapX);

              // if the new difference is greater than 0, add a new Node to the queue
              if (dX - voids >= -1) {
                // new direction is SE
                q.offer(
                    new int[] {location[0] + voids + lastStep[0] - 2, location[1]},
                    3,
                    new int[] {location[0], location[1]},
                    next);
              }

            } else if (dX < -1) { // if x difference is less than -1

              // check the number of consecutive voids at x-1+distanceRight, y-1
              int voids = NavTools.distanceVoidRight(location[0] + step[0], location[1], map.mapX);

              // if the new difference is greater than or equal to 0, add a new Node to the queue
              if (dX + voids < 0) {
                // new direction is NE
                q.offer(
                    new int[] {location[0] + voids + step[0] - 1, location[1] + 1},
                    1,
                    new int[] {location[0] - 1, location[1] + 1},
                    next);
              }
            }

            int dY = step[1] - lastStep[1]; // should be -1

            if (dY >= 0) { // if y difference is greater than -1

              // check the number of consecutive voids
              int voids =
                  NavTools.distanceVoidLeft(
                      location[1] - lastStep[1] + 1, location[0] - 1, map.mapY);

              // if the new difference is greater than 0, add a new Node to the queue
              if (dY - voids >= -1) {
                // new direction is SE, need two waypoints
                q.offer(
                    new int[] {location[0], location[1] - voids - lastStep[1] + 2},
                    7,
                    new int[] {location[0], location[1]},
                    next);
              }

            } else if (dY < -1) { // if y difference is less than -1

              // check the number of consecutive voids at
              int voids = NavTools.distanceVoidLeft(location[1] - step[1], location[0], map.mapY);

              // if the new difference is greater than or equal to 0, add a new Node to the queue
              if (dY + voids < 0) {
                // new direction is NW, need two waypoints
                q.offer(
                    new int[] {location[0] - 1, location[1] - voids - step[1] + 1},
                    1,
                    new int[] {location[0] - 1, location[1] + 1},
                    next);
              }
            }

            lastStep[0] = step[0];
            lastStep[1] = step[1];
          }
          break;

        case 3: // direction = SE
          // initialize as the distance from this node to x and y voids
          lastStep =
              new int[] {
                NavTools.distanceRight(location[0], location[1], map.mapX),
                NavTools.distanceRight(location[1], location[0], map.mapY)
              };

          while (lastStep[0] != 0) { // while the current location is walkable

            // check if the goal is directly reachable from this location
            if (q.goal[0] == location[0]) {
              if (q.goal[1] <= location[1]
                  && q.goal[1]
                      >= location[1] - NavTools.distanceLeft(location[1], location[0], map.mapY)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              } else if (q.goal[1] >= location[1]
                  && q.goal[1]
                      <= location[1] + NavTools.distanceRight(location[1], location[0], map.mapY)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              }
            } else if (q.goal[1] == location[1]) {
              if (q.goal[0] <= location[0]
                  && q.goal[0]
                      >= location[0] - NavTools.distanceLeft(location[0], location[1], map.mapX)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              } else if (q.goal[0] >= location[0]
                  && q.goal[0]
                      <= location[0] + NavTools.distanceRight(location[0], location[1], map.mapX)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              }
            }

            // step = distances to x and y voids & properly increment/decrement location
            step[0] = NavTools.distanceRight(++location[0], ++location[1], map.mapX);
            step[1] = NavTools.distanceRight(location[1], location[0], map.mapY);

            // difference between last and current distances
            int dX = step[0] - lastStep[0]; // should be -1

            if (dX >= 0) { // if x difference is greater than -1

              // check the number of consecutive voids at x-1+distanceRight, y-1
              int voids =
                  NavTools.distanceVoidRight(
                      location[0] + lastStep[0] - 1, location[1] - 1, map.mapX);

              // if the new difference is greater than 0, add a new Node to the queue
              if (dX - voids >= -1) {
                // new direction is SE
                q.offer(
                    new int[] {location[0] + voids + lastStep[0] - 2, location[1]},
                    1,
                    new int[] {location[0], location[1]},
                    next);
              }

            } else if (dX < -1) { // if x difference is less than -1

              // check the number of consecutive voids at x-1+distanceRight, y-1
              int voids = NavTools.distanceVoidRight(location[0] + step[0], location[1], map.mapX);

              // if the new difference is greater than or equal to 0, add a new Node to the queue
              if (dX + voids < 0) {
                // new direction is NE
                q.offer(
                    new int[] {location[0] + voids + step[0] - 1, location[1] - 1},
                    3,
                    new int[] {location[0] - 1, location[1] - 1},
                    next);
              }
            }

            int dY = step[1] - lastStep[1]; // should be -1

            if (dY >= 0) { // if y difference is greater than -1

              // check the number of consecutive voids
              int voids =
                  NavTools.distanceVoidRight(
                      location[1] + lastStep[1] - 1, location[0] - 1, map.mapY);

              // if the new difference is greater than 0, add a new Node to the queue
              if (dY - voids >= -1) {
                // new direction is SE, need two waypoints
                q.offer(
                    new int[] {location[0], location[1] + voids + lastStep[1] - 2},
                    5,
                    new int[] {location[0], location[1]},
                    next);
              }

            } else if (dY < -1) { // if y difference is less than -1

              // check the number of consecutive voids at
              int voids = NavTools.distanceVoidRight(location[1] + step[1], location[0], map.mapY);

              // if the new difference is greater than or equal to 0, add a new Node to the queue
              if (dY + voids < 0) {
                // new direction is NW, need two waypoints
                q.offer(
                    new int[] {location[0] - 1, location[1] + voids + step[1] - 1},
                    3,
                    new int[] {location[0] - 1, location[1] - 1},
                    next);
              }
            }

            lastStep[0] = step[0];
            lastStep[1] = step[1];
          }
          break;

        case 5: // direction = SW
          // initialize as the distance from this node to x and y voids
          lastStep =
              new int[] {
                NavTools.distanceLeft(location[0], location[1], map.mapX),
                NavTools.distanceRight(location[1], location[0], map.mapY)
              };

          while (lastStep[0] != 0) { // while the current location is walkable

            // check if the goal is directly reachable from this location
            if (q.goal[0] == location[0]) {
              if (q.goal[1] <= location[1]
                  && q.goal[1]
                      >= location[1] - NavTools.distanceLeft(location[1], location[0], map.mapY)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              } else if (q.goal[1] >= location[1]
                  && q.goal[1]
                      <= location[1] + NavTools.distanceRight(location[1], location[0], map.mapY)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              }
            } else if (q.goal[1] == location[1]) {
              if (q.goal[0] <= location[0]
                  && q.goal[0]
                      >= location[0] - NavTools.distanceLeft(location[0], location[1], map.mapX)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              } else if (q.goal[0] >= location[0]
                  && q.goal[0]
                      <= location[0] + NavTools.distanceRight(location[0], location[1], map.mapX)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              }
            }

            // step = distances to x and y voids & properly increment/decrement location
            step[0] = NavTools.distanceLeft(--location[0], ++location[1], map.mapX);
            step[1] = NavTools.distanceRight(location[1], location[0], map.mapY);

            // difference between last and current distances
            int dX = step[0] - lastStep[0]; // should be -1

            if (dX >= 0) { // if x difference is greater than -1

              // check the number of consecutive voids at x-1+distanceRight, y-1
              int voids =
                  NavTools.distanceVoidLeft(
                      location[0] - lastStep[0] + 1, location[1] - 1, map.mapX);

              // if the new difference is greater than 0, add a new Node to the queue
              if (dX - voids >= -1) {
                // new direction is NW
                q.offer(
                    new int[] {location[0] - voids - lastStep[0] + 2, location[1]},
                    7,
                    new int[] {location[0], location[1]},
                    next);
              }

            } else if (dX < -1) { // if x difference is less than -1

              // check the number of consecutive voids at x-1+distanceRight, y-1
              int voids = NavTools.distanceVoidLeft(location[0] - step[0], location[1], map.mapX);

              // if the new difference is greater than or equal to 0, add a new Node to the queue
              if (dX + voids < 0) {
                // new direction is NE
                q.offer(
                    new int[] {location[0] - voids - step[0] + 1, location[1] - 1},
                    3,
                    new int[] {location[0] + 1, location[1] - 1},
                    next);
              }
            }

            int dY = step[1] - lastStep[1]; // should be -1

            if (dY >= 0) { // if y difference is greater than -1

              // check the number of consecutive voids
              int voids =
                  NavTools.distanceVoidRight(
                      location[1] + lastStep[1] - 1, location[0] + 1, map.mapY);

              // if the new difference is greater than 0, add a new Node to the queue
              if (dY - voids >= -1) {
                // new direction is SE, need two waypoints
                q.offer(
                    new int[] {location[0], location[1] + voids + lastStep[1] - 2},
                    5,
                    new int[] {location[0], location[1]},
                    next);
              }

            } else if (dY < -1) { // if y difference is less than -1

              // check the number of consecutive voids at
              int voids = NavTools.distanceVoidRight(location[1] + step[1], location[0], map.mapY);

              // if the new difference is greater than or equal to 0, add a new Node to the queue
              if (dY + voids < 0) {
                // new direction is NW, need two waypoints
                q.offer(
                    new int[] {location[0] + 1, location[1] + voids + step[1] - 1},
                    3,
                    new int[] {location[0] + 1, location[1] - 1},
                    next);
              }
            }

            lastStep[0] = step[0];
            lastStep[1] = step[1];
          }
          break;

        default: // direction = NW
          // initialize as the distance from this node to x and y voids
          lastStep =
              new int[] {
                NavTools.distanceLeft(location[0], location[1], map.mapX),
                NavTools.distanceRight(location[1], location[0], map.mapY)
              };

          while (lastStep[0] != 0) { // while the current location is walkable

            // check if the goal is directly reachable from this location
            if (q.goal[0] == location[0]) {
              if (q.goal[1] <= location[1]
                  && q.goal[1]
                      >= location[1] - NavTools.distanceLeft(location[1], location[0], map.mapY)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              } else if (q.goal[1] >= location[1]
                  && q.goal[1]
                      <= location[1] + NavTools.distanceRight(location[1], location[0], map.mapY)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              }
            } else if (q.goal[1] == location[1]) {
              if (q.goal[0] <= location[0]
                  && q.goal[0]
                      >= location[0] - NavTools.distanceLeft(location[0], location[1], map.mapX)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              } else if (q.goal[0] >= location[0]
                  && q.goal[0]
                      <= location[0] + NavTools.distanceRight(location[0], location[1], map.mapX)) {
                next.mapNext = new Node(q.goal, location, next, 0, 0);
                next.mapNext.mapLast = next;
                return q.retrace(next);
              }
            }

            // step = distances to x and y voids & properly increment/decrement location
            step[0] = NavTools.distanceLeft(--location[0], --location[1], map.mapX);
            step[1] = NavTools.distanceLeft(location[1], location[0], map.mapY);

            // difference between last and current distances
            int dX = step[0] - lastStep[0]; // should be -1

            if (dX >= 0) { // if x difference is greater than -1

              // check the number of consecutive voids at x-1+distanceRight, y-1
              int voids =
                  NavTools.distanceVoidLeft(
                      location[0] - lastStep[0] + 1, location[1] + 1, map.mapX);

              // if the new difference is greater than 0, add a new Node to the queue
              if (dX - voids >= -1) {
                // new direction is NW
                q.offer(
                    new int[] {location[0] - voids - lastStep[0] + 2, location[1]},
                    5,
                    new int[] {location[0], location[1]},
                    next);
              }

            } else if (dX < -1) { // if x difference is less than -1

              // check the number of consecutive voids at x-1+distanceRight, y-1
              int voids = NavTools.distanceVoidLeft(location[0] - step[0], location[1], map.mapX);

              // if the new difference is greater than or equal to 0, add a new Node to the queue
              if (dX + voids < 0) {
                // new direction is NE
                q.offer(
                    new int[] {location[0] - voids - step[0] + 1, location[1] + 1},
                    7,
                    new int[] {location[0] + 1, location[1] + 1},
                    next);
              }
            }

            int dY = step[1] - lastStep[1]; // should be -1

            if (dY >= 0) { // if y difference is greater than -1

              // check the number of consecutive voids
              int voids =
                  NavTools.distanceVoidLeft(
                      location[1] - lastStep[1] + 1, location[0] + 1, map.mapY);

              // if the new difference is greater than 0, add a new Node to the queue
              if (dY - voids >= -1) {
                // new direction is SE, need two waypoints
                q.offer(
                    new int[] {location[0], location[1] - voids - lastStep[1] + 2},
                    1,
                    new int[] {location[0], location[1]},
                    next);
              }

            } else if (dY < -1) { // if y difference is less than -1

              // check the number of consecutive voids at
              int voids = NavTools.distanceVoidLeft(location[1] - step[1], location[0], map.mapY);

              // if the new difference is greater than or equal to 0, add a new Node to the queue
              if (dY + voids < 0) {
                // new direction is NW, need two waypoints
                q.offer(
                    new int[] {location[0] + 1, location[1] - voids - step[1] + 1},
                    7,
                    new int[] {location[0] + 1, location[1] + 1},
                    next);
              }
            }

            lastStep[0] = step[0];
            lastStep[1] = step[1];
          }
          break;
      }
    }
    return null;
  }