Symétrie

INTechSenpai · May 23, 2017 · 4c6abcc · 4c6abcc
1 parent 43de62a
commit 4c6abcc
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Showing 3 changed files with 13 additions and 11 deletions.
diff --git a/pc/src/pathfinding/astar/arcs/ArcManager.java b/pc/src/pathfinding/astar/arcs/ArcManager.java
@@ -383,20 +383,22 @@ public double heuristicDirect(Cinematique cinematique)
 	public void disableObstaclesFixes(boolean symetrie, CinematiqueObs obs)
 	{
 		disabledObstaclesFixes.clear();
+		ObstaclesFixes depart;
 		if(symetrie)
-			disabledObstaclesFixes.add(ObstaclesFixes.ZONE_DEPART_GAUCHE_CENTRE);
+			depart = ObstaclesFixes.ZONE_DEPART_GAUCHE_CENTRE;
 		else
-			disabledObstaclesFixes.add(ObstaclesFixes.ZONE_DEPART_DROITE_CENTRE);
+			depart = ObstaclesFixes.ZONE_DEPART_DROITE_CENTRE;
+		disabledObstaclesFixes.add(depart);
 		for(ObstaclesFixes o : ObstaclesFixes.values())
 			if(!o.bordure && o.getObstacle().isColliding(obs.obstacle))
 			{
 				log.warning("Désactivation de l'obstacle fixe : " + o + ". Obs : " + obs);
 				disabledObstaclesFixes.add(o);
 			}
 		if(!disabledObstaclesFixes.isEmpty())
-			dstarlite.disableObstaclesFixes(obs.getPosition());
+			dstarlite.disableObstaclesFixes(obs.getPosition(), depart.getObstacle());
 		else
-			dstarlite.disableObstaclesFixes(null);
+			dstarlite.disableObstaclesFixes(null, depart.getObstacle());
 	}
 
 	public boolean isToCircle()

diff --git a/pc/src/pathfinding/dstarlite/DStarLite.java b/pc/src/pathfinding/dstarlite/DStarLite.java
@@ -34,6 +34,7 @@
 import container.dependances.LowPFClass;
 import graphic.PrintBufferInterface;
 import graphic.printable.Couleur;
+import obstacles.types.Obstacle;
 
 /**
  * Recherche de chemin avec replanification rapide.
@@ -676,9 +677,9 @@ public synchronized void stopContinuousSearch()
 		rechercheEnCours = false;
 	}
 
-	public void disableObstaclesFixes(Vec2RO position)
+	public void disableObstaclesFixes(Vec2RO position, Obstacle obstacle)
 	{
-		gridspace.disableObstaclesFixes(position);
+		gridspace.disableObstaclesFixes(position, obstacle);
 	}
 
 }
diff --git a/pc/src/pathfinding/dstarlite/gridspace/GridSpace.java b/pc/src/pathfinding/dstarlite/gridspace/GridSpace.java
@@ -292,15 +292,14 @@ public Layer getLayer()
 		return Layer.MIDDLE;
 	}
 
-	public void disableObstaclesFixes(Vec2RO position)
+	public void disableObstaclesFixes(Vec2RO position, Obstacle obstacle)
 	{
 		// on initialise comme la grille statique classique
 		grilleStatiqueModif.clear();
 		grilleStatiqueModif.or(grilleStatique);
-		if(position != null)
-			for(int i = 0; i < PointGridSpace.NB_POINTS; i++)
-				if(grilleStatiqueModif.get(i) && pointManager.get(i).computeVec2().distanceFast(position) < rayonRobotObstaclesFixes)
-					grilleStatiqueModif.clear(i);
+		for(int i = 0; i < PointGridSpace.NB_POINTS; i++)
+			if(grilleStatiqueModif.get(i) && ((position != null && pointManager.get(i).computeVec2().distanceFast(position) < rayonRobotObstaclesFixes) || obstacle.squaredDistance(pointManager.get(i).computeVec2()) == 0))
+				grilleStatiqueModif.clear(i);
 	}
 
 }