def pointContenuListe(self, x, y, listePointInteret):
tester = Collision()
elementList = []
for element in listePointInteret:
if tester.contenuDans(x, y, element.zoneEvitement.forme):
elementList.append(element)
return elementList
def supprimerElementsContenant(self, x1, y1, x2, y2, listePointInteret):
tester = Collision()
for element in listePointInteret:
if tester.contenuDans(x1, y1, element.zoneEvitement.forme):
self.updateNodesRemovingElement(element, listePointInteret)
listePointInteret.remove(element)
elif (x1 != x2 or y1 != y2) and tester.contenuDans(
x2, y2, element.zoneEvitement.forme):
self.updateNodesRemovingElement(element, listePointInteret)
listePointInteret.remove(element)
self.createGraph(self.listePointInteret)
def __init__(self, dimensions, mapHash, listePointInteret, fenetre=None):
self.largeur = int(dimensions[0])
self.longueur = int(dimensions[1])
self.mapHash = mapHash
self.listePointInteret = listePointInteret
self.fenetre = fenetre
self.collider = Collision(fenetre)
def updateNodesRemovingElement(self, element, listePointInteret):
tmpList = list(listePointInteret) # copy
tmpList.remove(element)
for key, noeud in self.graph.listeNoeud.iteritems():
if element in noeud.colisionObject:
noeud.colisionObject.remove(
element) #line added during cup 2017
tester = Collision(self.fenetre)
line = Ligne("", noeud.x, noeud.y, noeud.x, noeud.y)
tmpList = sorted(tmpList,
key=lambda pointInteret: line.distanceAvec(
pointInteret.forme))
for point in listePointInteret:
if tester.collisionEntre(line, point.zoneEvitement.forme):
noeud.colisionObject = point
break
def enCollisionCarte(self,
ligne,
_listePointInteret,
ignoreEvitmentZone=False):
tester = Collision(self.fenetre)
listePointInteret = sorted(_listePointInteret,
key=lambda pointInteret: Ligne(
"", ligne.x1, ligne.y1, ligne.x1, ligne.
y1).distanceAvec(pointInteret.forme))
for point in listePointInteret:
if ignoreEvitmentZone:
if tester.collisionEntre(ligne, point.forme):
return point
else:
if tester.collisionEntre(ligne, point.zoneEvitement.forme):
return point
return False
def __init__(self, dimensions, mapHash, listePointInteret, fenetre=None):
self.largeur = int(dimensions[0])
self.longueur = int(dimensions[1])
self.mapHash = mapHash
self.listePointInteret = listePointInteret
self.graph = Graph()
self.fenetre = fenetre
self.step = 80
self.graphFile = "preComputedMap.graph"
self.collider = Collision(fenetre)
self.callCount = {}
savedGraph = None
graphLoaded = False
t = time.time()
if not self.loadGraph():
print "Graph file can't be used, need to compute it"
self.createGraph(self.listePointInteret)
self.saveGraph()
print "Graph saved (" + self.mapHash + ")"
else:
print "Graph loaded from file (" + self.mapHash + ")"
print "LoadTime: " + str(time.time() - t)
def pointContenuDans(self, x, y, listePointInteret):
tester = Collision()
for element in listePointInteret:
if tester.contenuDans(x, y, element.zoneEvitement.forme):
return element
return None
class ChercheurChemin:
def __init__(self, dimensions, mapHash, listePointInteret, fenetre=None):
self.largeur = int(dimensions[0])
self.longueur = int(dimensions[1])
self.mapHash = mapHash
self.listePointInteret = listePointInteret
self.graph = Graph()
self.fenetre = fenetre
self.step = 80
self.graphFile = "preComputedMap.graph"
self.collider = Collision(fenetre)
self.callCount = {}
savedGraph = None
graphLoaded = False
t = time.time()
if not self.loadGraph():
print "Graph file can't be used, need to compute it"
self.createGraph(self.listePointInteret)
self.saveGraph()
print "Graph saved (" + self.mapHash + ")"
else:
print "Graph loaded from file (" + self.mapHash + ")"
print "LoadTime: " + str(time.time() - t)
def saveGraph(self):
file = open(self.graphFile, "w")
if file:
file.write(self.graph.serialize(self.mapHash))
return True
return False
def loadGraph(self):
if not os.path.isfile(self.graphFile):
return False
tree = None
try:
tree = ET.parse(self.graphFile)
except:
return False
root = tree.getroot()
if root.tag == "graph":
if root.get("hash") != self.mapHash or not root.get("step"):
return False
self.graph = Graph()
self.graph.initFromSerialization(root, self.listePointInteret)
else:
return False
return True
def createGraph(self, listePointInteret):
self.graph = Graph()
self.graph.step = self.step
for x in range(0, self.largeur + 1, self.step):
for y in range(0, self.longueur + 1, self.step):
objects = self.pointContenuListe(x, y, listePointInteret)
newNoeud = Noeud(x, y)
newNoeud.colisionObject = objects
self.graph.addNoeud(newNoeud)
self.graph.creerVoisins(self.step)
#Based on object shapes
def enCollisionCarte(self,
ligne,
_listePointInteret,
ignoreEvitmentZone=False):
self.callCount["enCollisionCarte"] = self.callCount[
"enCollisionCarte"] + 1 if "enCollisionCarte" in self.callCount else 1
listePointInteret = sorted(_listePointInteret,
key=lambda pointInteret: Ligne(
"", ligne.x1, ligne.y1, ligne.x1, ligne.
y1).distanceAvec(pointInteret.forme))
for point in listePointInteret:
if ignoreEvitmentZone:
if self.collider.collisionEntre(ligne, point.forme):
return point
else:
if self.collider.collisionEntre(ligne,
point.zoneEvitement.forme):
return point
return False
#Based on nearests graph points (faster than shape based)
def enCollisionGraph(self, ligne, blockingElements=None):
self.callCount["enCollisionGraph"] = self.callCount[
"enCollisionGraph"] + 1 if "enCollisionGraph" in self.callCount else 1
resolution = self.step
for i in range(resolution,
int(ligne.getlongeur()) + resolution, resolution):
subLine = Ligne("", ligne.x1, ligne.y1, ligne.x2, ligne.y2)
subLine.resize(float(i))
node = self.graph.trouverPointProche(subLine.x2, subLine.y2)
if len(node.colisionObject) > 0:
if blockingElements is None:
return True
else:
for elem in node.colisionObject:
if not elem in blockingElements:
return True
"""if self.fenetre:
subCircle=Cercle("", subLine.x2, subLine.y2,resolution/2, "blue")
subCircle.dessiner(self.fenetre)
subLine.setCouleur("violet")
subLine.dessiner(self.fenetre)
ligne.setCouleur("orange")
ligne.dessiner(self.fenetre)"""
return False
def pointContenuDans(self, x, y, listePointInteret):
for element in listePointInteret:
if self.collider.contenuDans(x, y, element.zoneEvitement.forme):
return element
return None
def pointContenuListe(self, x, y, listePointInteret):
elementList = []
for element in listePointInteret:
if self.collider.contenuDans(x, y, element.zoneEvitement.forme):
elementList.append(element)
return elementList
def updateNodesRemovingElement(self, element, listePointInteret):
tmpList = list(listePointInteret) # copy
tmpList.remove(element)
for key, noeud in self.graph.listeNoeud.iteritems():
if element in noeud.colisionObject:
noeud.colisionObject.remove(
element) #line added during cup 2017
line = Ligne("", noeud.x, noeud.y, noeud.x, noeud.y)
tmpList = sorted(tmpList,
key=lambda pointInteret: line.distanceAvec(
pointInteret.forme))
for point in listePointInteret:
if self.collider.collisionEntre(line,
point.zoneEvitement.forme):
noeud.colisionObject = point
break
def supprimerElementsContenant(self, x1, y1, x2, y2, listePointInteret):
for element in listePointInteret:
if self.collider.contenuDans(x1, y1, element.zoneEvitement.forme):
self.updateNodesRemovingElement(element, listePointInteret)
listePointInteret.remove(element)
elif (x1 != x2 or y1 != y2) and self.collider.contenuDans(
x2, y2, element.zoneEvitement.forme):
self.updateNodesRemovingElement(element, listePointInteret)
listePointInteret.remove(element)
self.createGraph(self.listePointInteret)
def trouverChemin(self, x1, y1, x2, y2, _listePointInteret):
t = time.time()
directLine = Ligne("", x1, y1, x2, y2)
if not self.enCollisionCarte(directLine, _listePointInteret):
return [directLine]
print "\tPath Direct test Time: " + str(time.time() - t)
t = time.time()
self.graph.nettoyer()
print "\tPath clean graph Time: " + str(time.time() - t)
t = time.time()
#Point contained in objects
startElements = self.pointContenuListe(x1, y1, _listePointInteret)
endElements = self.pointContenuListe(x2, y2, _listePointInteret)
blockingElements = startElements + list(
set(endElements) - set(startElements)) #merge removing duplicates
print "\tPath contain lookup Time: " + str(time.time() - t)
t = time.time()
startNode = self.graph.trouverPointProche(x1, y1)
endNode = self.graph.trouverPointProche(x2, y2)
print "\tPath close node lookup Time: " + str(time.time() - t)
t = time.time()
if startNode == None or endNode == None:
print "Start or end node not found"
return None
listnoeud = deque()
listnoeud.append(startNode)
self.graph.marquer(startNode)
print "\tInitPathTime: " + str(time.time() - t)
t = time.time()
while len(listnoeud) > 0:
currentNode = listnoeud.popleft()
if currentNode == endNode:
break
for noeud in self.graph.getVoisin(currentNode):
if not self.graph.estMaquer(noeud):
addNode = True
if len(noeud.colisionObject) != 0:
for elem in noeud.colisionObject:
if not elem in blockingElements:
self.graph.marquer(noeud)
addNode = False
break
if (addNode):
self.graph.setPere(noeud, currentNode)
self.graph.marquer(noeud)
listnoeud.append(noeud)
print "\tSearchPathTime: " + str(time.time() - t)
t = time.time()
listPoint = []
lastNode = endNode
currentNode = self.graph.getPere(endNode)
if currentNode == None:
pass
elif self.graph.getPere(currentNode) == None:
#from endNode
listPoint.append([x2, y2])
#trip
listPoint.append([lastNode.x, lastNode.y])
listPoint.append([currentNode.x, currentNode.y])
#to startNode
listPoint.append([x1, y1])
else:
#from endNode
listPoint.append([x2, y2])
listPoint.append([lastNode.x, lastNode.y])
#trip
while self.graph.getPere(currentNode) != None:
listPoint.append([currentNode.x, currentNode.y])
currentNode = self.graph.getPere(currentNode)
# to startNode
listPoint.append([x1, y1])
tmpList = list(_listePointInteret)
for elem in blockingElements:
try:
tmpList.remove(elem)
except ValueError:
print "ChercheurChemin Err:" + elem.nom #shouldn't pop anymore
listPoint.reverse()
listChemin = []
for i in range(1, len(listPoint)):
p1 = listPoint[i - 1]
p2 = listPoint[i]
line = Ligne("", p1[0], p1[1], p2[0], p2[1])
listChemin.append(line)
print "Chemin len ", len(listChemin)
print "\tFinilizePathTime: " + str(time.time() - t)
t = time.time()
self.simplifierChemin(listChemin, tmpList, blockingElements)
print "\tSimplifyPathTime: " + str(time.time() - t)
print "Chemin Simplified len ", len(listChemin)
return listChemin
def simplifierChemin(self,
tabchemin,
listPointInteret,
blockingElements=None):
i = -1
while i < len(tabchemin) - 2:
i += 1
l1 = tabchemin[i]
l2 = tabchemin[i + 1]
line = Ligne("", l1.x1, l1.y1, l2.x2, l2.y2, "")
"""line.setCouleur("blue")
line.dessiner(self.fenetre)"""
#if not self.enCollisionCarte(line,listPointInteret):
if not self.enCollisionGraph(line, blockingElements):
tabchemin.insert(i, line)
tabchemin.remove(l1)
tabchemin.remove(l2)
i = -1
return tabchemin