From 908421d77423a632630fccb49bf0eb2aa1431cd4 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 06 三月 2026 15:20:01 +0800
Subject: [PATCH] Merge branch 'rcs_master_path' into rcs_master
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java | 27 +++++
zy-acs-flow/src/i18n/en.js | 6
zy-acs-flow/src/page/agvModel/AgvModelCreate.jsx | 17 ++-
zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java | 6
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 97 +++++++++++++++---
zy-acs-flow/src/i18n/zh.js | 6
zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java | 2
zy-acs-flow/src/page/agvModel/AgvModelList.jsx | 4
zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleRuntime.java | 19 +++
zy-acs-flow/src/page/agvModel/AgvModelEdit.jsx | 18 ++-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 72 ++++++++++++++
11 files changed, 229 insertions(+), 45 deletions(-)
diff --git a/zy-acs-flow/src/i18n/en.js b/zy-acs-flow/src/i18n/en.js
index c1c47d2..89a69d0 100644
--- a/zy-acs-flow/src/i18n/en.js
+++ b/zy-acs-flow/src/i18n/en.js
@@ -368,9 +368,9 @@
length: "length",
headOffset: "head (mm)",
tailOffset: "tail (mm)",
- width: "width",
- height: "height",
- liftHeight: "lift height",
+ width: "width (mm)",
+ height: "height (mm)",
+ liftHeight: "lift height (mm)",
diameter: "diameter",
password: "password",
backpack: "backpack",
diff --git a/zy-acs-flow/src/i18n/zh.js b/zy-acs-flow/src/i18n/zh.js
index dfe7bd8..f44c842 100644
--- a/zy-acs-flow/src/i18n/zh.js
+++ b/zy-acs-flow/src/i18n/zh.js
@@ -368,9 +368,9 @@
length: "闀垮害",
headOffset: "杞﹀ご(姣背)",
tailOffset: "杞﹀熬(姣背)",
- width: "瀹藉害",
- height: "楂樺害",
- liftHeight: "涓惧崌楂樺害",
+ width: "瀹藉害(姣背)",
+ height: "楂樺害(姣背)",
+ liftHeight: "涓惧崌楂樺害(姣背)",
diameter: "鏃嬭浆鐩村緞",
password: "璁惧瀵嗙爜",
backpack: "鑳岀瘬鏁伴噺",
diff --git a/zy-acs-flow/src/page/agvModel/AgvModelCreate.jsx b/zy-acs-flow/src/page/agvModel/AgvModelCreate.jsx
index 2b28c0e..20bdd2c 100644
--- a/zy-acs-flow/src/page/agvModel/AgvModelCreate.jsx
+++ b/zy-acs-flow/src/page/agvModel/AgvModelCreate.jsx
@@ -13,6 +13,7 @@
AutocompleteInput,
Toolbar,
required,
+ minValue,
useDataProvider,
useNotify,
Form,
@@ -108,51 +109,53 @@
validate={required()}
/>
</Grid>
- <Grid item xs={4} display="flex" gap={1}>
+ {/* <Grid item xs={4} display="flex" gap={1}>
<NumberInput
label="table.field.agvModel.length"
source="length"
/>
- </Grid>
+ </Grid> */}
<Grid item xs={4} display="flex" gap={1}>
<NumberInput
label="table.field.agvModel.headOffset"
source="headOffset"
- validate={required()}
+ validate={[required(), minValue(1)]}
/>
</Grid>
<Grid item xs={4} display="flex" gap={1}>
<NumberInput
label="table.field.agvModel.tailOffset"
source="tailOffset"
- validate={required()}
+ validate={[required(), minValue(1)]}
/>
</Grid>
<Grid item xs={4} display="flex" gap={1}>
<NumberInput
label="table.field.agvModel.width"
source="width"
+ validate={[required(), minValue(1)]}
/>
</Grid>
<Grid item xs={4} display="flex" gap={1}>
<NumberInput
label="table.field.agvModel.height"
source="height"
+ validate={[required(), minValue(1)]}
/>
</Grid>
- <Grid item xs={6} display="flex" gap={1}>
+ <Grid item xs={4} display="flex" gap={1}>
<NumberInput
label="table.field.agvModel.liftHeight"
source="liftHeight"
/>
</Grid>
- <Grid item xs={6} display="flex" gap={1}>
+ {/* <Grid item xs={6} display="flex" gap={1}>
<NumberInput
label="table.field.agvModel.diameter"
source="diameter"
validate={required()}
/>
- </Grid>
+ </Grid> */}
<Grid item xs={6} display="flex" gap={1}>
<TextInput
label="table.field.agvModel.password"
diff --git a/zy-acs-flow/src/page/agvModel/AgvModelEdit.jsx b/zy-acs-flow/src/page/agvModel/AgvModelEdit.jsx
index ea16391..9022bc7 100644
--- a/zy-acs-flow/src/page/agvModel/AgvModelEdit.jsx
+++ b/zy-acs-flow/src/page/agvModel/AgvModelEdit.jsx
@@ -84,41 +84,45 @@
/>
</Stack>
<Stack direction='row' gap={2}>
- <NumberInput
+ {/* <NumberInput
label="table.field.agvModel.length"
source="length"
- />
+ /> */}
<NumberInput
label="table.field.agvModel.headOffset"
source="headOffset"
validate={required()}
+ min={1}
/>
<NumberInput
label="table.field.agvModel.tailOffset"
source="tailOffset"
validate={required()}
+ min={1}
/>
- </Stack>
- <Stack direction='row' gap={2}>
<NumberInput
label="table.field.agvModel.width"
source="width"
+ validate={required()}
+ min={1}
/>
+ </Stack>
+ <Stack direction='row' gap={2}>
<NumberInput
label="table.field.agvModel.height"
source="height"
/>
- </Stack>
- <Stack direction='row' gap={2}>
<NumberInput
label="table.field.agvModel.liftHeight"
source="liftHeight"
/>
+ </Stack>
+ {/* <Stack direction='row' gap={2}>
<NumberInput
label="table.field.agvModel.diameter"
source="diameter"
/>
- </Stack>
+ </Stack> */}
<Stack direction='row' gap={2}>
<TextInput
label="table.field.agvModel.password"
diff --git a/zy-acs-flow/src/page/agvModel/AgvModelList.jsx b/zy-acs-flow/src/page/agvModel/AgvModelList.jsx
index f745933..d938e40 100644
--- a/zy-acs-flow/src/page/agvModel/AgvModelList.jsx
+++ b/zy-acs-flow/src/page/agvModel/AgvModelList.jsx
@@ -137,8 +137,8 @@
expand={() => <AgvModelPanel />}
expandSingle={true}
omit={['id', 'uuid', 'liftHeight', 'mqttTopic', 'password', 'protocol'
- // , 'headOffset', 'tailOffset'
- , 'length', 'width', 'height', 'allDirectionBool', 'diameter'
+ // , 'headOffset', 'tailOffset', 'width'
+ , 'length', 'height', 'allDirectionBool', 'diameter'
, 'statusBool', 'updateBy', 'updateTime', 'createTime', 'createBy', 'memo']}
>
<NumberField source="id" />
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
index b7c7104..222f5cd 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
@@ -56,12 +56,12 @@
return JSON.toJSONString(set);
}
- public static Double getVehicleWaveSafeDistance(Integer diameter, Double factor) {
- if (Cools.isEmpty(diameter)) {
+ public static Double getVehicleWaveSafeDistance(Integer val, Double factor) {
+ if (Cools.isEmpty(val)) {
return 0.0D;
}
factor = Optional.ofNullable(factor).orElse(1.0D);
- return diameter * factor;
+ return val * factor;
}
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java
index 7f45477..3e51320 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java
@@ -5,7 +5,7 @@
*/
public class MapDataConstant {
- public static final Double MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR = 1.00;
+ public static final Double MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR = 1.02;
public static final Integer MAX_STEPS_SINGLE = 25;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java
new file mode 100644
index 0000000..e05f8c6
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java
@@ -0,0 +1,27 @@
+package com.zy.acs.manager.core.domain;
+
+import lombok.Data;
+
+/**
+ * 杞﹁締鍦ㄨ嚜韬潗鏍囩郴涓嬬殑鐭╁舰杞粨鎻忚堪
+ */
+@Data
+public class VehicleFootprint {
+
+ private double head;
+ private double tail;
+ private double halfWidth;
+
+ public VehicleFootprint(double head, double tail, double halfWidth) {
+ this.head = head;
+ this.tail = tail;
+ this.halfWidth = halfWidth;
+ }
+
+ public double maxExtent() {
+// double frontDiag = Math.hypot(head, halfWidth);
+// double rearDiag = Math.hypot(tail, halfWidth);
+// return Math.max(frontDiag, rearDiag);
+ return Math.hypot(Math.max(head, tail), halfWidth);
+ }
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleRuntime.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleRuntime.java
new file mode 100644
index 0000000..069bdaf
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleRuntime.java
@@ -0,0 +1,19 @@
+package com.zy.acs.manager.core.domain;
+
+import lombok.Data;
+
+@Data
+public class VehicleRuntime {
+
+ private VehicleFootprint footprint;
+ private double headingRad;
+
+ public VehicleRuntime() {
+ }
+
+ public VehicleRuntime(VehicleFootprint footprint, double headingRad) {
+ this.footprint = footprint;
+ this.headingRad = headingRad;
+ }
+
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
index 59cbb82..e3110b7 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
@@ -3,9 +3,13 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.config.RedisProperties;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
+import com.zy.acs.manager.core.domain.VehicleFootprint;
+import com.zy.acs.manager.core.domain.VehicleRuntime;
+import com.zy.acs.manager.core.service.astart.CodeNodeType;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.NavigateNode;
@@ -33,7 +37,9 @@
import java.io.InputStreamReader;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
+import java.util.HashMap;
import java.util.List;
+import java.util.Map;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.TimeUnit;
@@ -172,41 +178,96 @@
return true;
}
- private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) throws Exception {
- if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
- log.warn("There is no diameter or diameter value was wrong...");
- }
-
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
-
- // java
+ private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) {
+ assert null != agvModel.getDiameter();
String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
-
- // lock path
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+
+ // 褰撳墠璋冨害杞﹀瀷鐨勬渶澶ф棆杞崐寰�
+ double bufferRadius = buildFootprint(agvModel).maxExtent();
+
+ Map<String, VehicleRuntime> runtimeCache = new HashMap<>();
for (int i = 0; i < dynamicMatrix.length; i++) {
for (int j = 0; j < dynamicMatrix[i].length; j++) {
DynamicNode dynamicNode = dynamicMatrix[i][j];
String vehicle = dynamicNode.getVehicle();
- if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {
+ if (DynamicNodeType.ACCESS.val.equals(vehicle) || DynamicNodeType.BLOCK.val.equals(vehicle)) {
+ continue;
+ }
+ String codeData = codeMatrix[i][j];
+ if (CodeNodeType.NONE.val.equals(codeData)) {
+ continue;
+ }
- List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
+ // cache
+ VehicleRuntime runtime = runtimeCache.computeIfAbsent(vehicle, this::loadRuntime);
+ assert null != runtime; assert null != runtime.getFootprint();
- for (NavigateNode navigateNode : includeList) {
- String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
- waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
- }
+ List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, runtime.getFootprint(), runtime.getHeadingRad(), bufferRadius);
+
+ for (NavigateNode navigateNode : includeList) {
+ String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
+ waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
}
}
}
-// mapDataDispatcher.printMatrix(waveMatrix);
mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
-
return true;
}
+ private VehicleRuntime loadRuntime(String agvNo) {
+ AgvModel model = agvModelService.getByAgvNo(agvNo);
+ if (model == null) {
+ return null;
+ }
+ VehicleFootprint footprint = this.buildFootprint(model);
+
+ AgvDetail detail = agvDetailService.selectByAgvNo(agvNo);
+ if (detail == null || null == detail.getAgvAngle()) {
+ throw new CoolException(agvNo + " does not have an agv angle");
+ }
+ double headingDeg = detail.getAgvAngle();
+
+ return new VehicleRuntime(footprint, Math.toRadians(90 - headingDeg));
+ }
+
+ private double toMapLength(Integer mm) {
+ if (mm == null || mm <= 0) {
+ throw new IllegalArgumentException("Invalid map length: " + mm);
+ }
+ return MapDataUtils.getVehicleWaveSafeDistance(mm, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
+ }
+
+ private double resolveAvoidDistance(AgvModel agvModel) {
+ if (agvModel == null || agvModel.getDiameter() == null || agvModel.getDiameter() <= 0) {
+ return 0D;
+ }
+ return MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
+ }
+
+ private VehicleFootprint buildFootprint(AgvModel agvModel) {
+ if (null == agvModel) {
+ throw new IllegalArgumentException("AgvModel is null");
+ }
+ if (agvModel.getHeadOffset() == null || agvModel.getHeadOffset() <= 0) {
+ throw new IllegalArgumentException("Invalid head offset: " + agvModel.getHeadOffset());
+ }
+ if (agvModel.getTailOffset() == null || agvModel.getTailOffset() <= 0) {
+ throw new IllegalArgumentException("Invalid tail offset: " + agvModel.getTailOffset());
+ }
+ if (agvModel.getWidth() == null || agvModel.getWidth() <= 0) {
+ throw new IllegalArgumentException("Invalid width: " + agvModel.getWidth());
+ }
+
+ double head = toMapLength(agvModel.getHeadOffset());
+ double tail = toMapLength(agvModel.getTailOffset());
+ double halfWidth = toMapLength(agvModel.getWidth()) / 2;
+
+ return new VehicleFootprint(head, tail, halfWidth);
+ }
+
private File loadPythonFile() {
File scriptFile = null;
try {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index d6ac66c..dfca02b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -9,6 +9,7 @@
import com.zy.acs.manager.core.domain.LaneDto;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
+import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
@@ -36,7 +37,7 @@
* Created by vincent on 2023/6/14
*/
@Slf4j
-@Component("mapService")
+@Component
public class MapService {
private static final double EPS = 1e-7;
@@ -294,6 +295,35 @@
return includeList;
}
+ public List<NavigateNode> getWaveScopeByCode(Integer lev, String code, VehicleFootprint footprint, double headingRad, double buffer) {
+ int[] centerIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
+ if (centerIdx == null) {
+ throw new CoolException(code + " does not exist in codeMatrix");
+ }
+ Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
+ Double centerX = cdaMatrix[centerIdx[0]][centerIdx[1]][0];
+ Double centerY = cdaMatrix[centerIdx[0]][centerIdx[1]][1];
+ if (centerX == null || centerY == null) {
+ throw new CoolException(code + " does not exist in cdaMatrix");
+ }
+
+ double searchRadius = footprint.maxExtent() + buffer;
+
+ List<NavigateNode> candidates = this.getWaveScopeByCode(lev, code, searchRadius);
+
+ List<NavigateNode> includeList = new ArrayList<>();
+ for (NavigateNode node : candidates) {
+ Double px = cdaMatrix[node.getX()][node.getY()][0];
+ Double py = cdaMatrix[node.getX()][node.getY()][1];
+
+ if (isInsideExpandedFootprint(px, py, centerX, centerY, footprint, headingRad, buffer)) {
+ includeList.add(node);
+ }
+
+ }
+ return includeList;
+ }
+
public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
, String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLenSquared
, List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
@@ -338,6 +368,46 @@
}
+ private boolean isInsideExpandedFootprint(double px, double py, double centerX, double centerY
+ , VehicleFootprint footprint, double headingRad, double buffer) {
+ // 涓�銆侀噸缃垚浠ヨ溅杈嗕负鍘熺偣涓旇溅澶翠负x銆亂姝ｆ柟鍚戠殑鍧愭爣绯�
+ // 鍚戦噺骞崇Щ锛屽湴鍥惧潗鏍囩郴杞埌浠ヨ溅杈嗕腑蹇冧负鍘熺偣鐨勫潗鏍囩郴锛屼娇杞﹁締涓績鍙樻垚鏂扮殑鍘熺偣锛堟柟渚胯绠楋級
+ double dx = px - centerX;
+ double dy = py - centerY;
+
+ // 鍐嶆妸鍧愭爣鏃嬭浆鍒拌溅杈嗗潗鏍囩郴锛坙ocalX 鎸囧悜杞﹀ご锛宭ocalY 鎸囧悜杞﹁締宸︿晶锛夛紝鍙栨秷鍘熷湴鍥剧殑杞﹁締鏃嬭浆鏂瑰悜
+ double localX = dx * Math.cos(headingRad) + dy * Math.sin(headingRad);
+ double localY = -dx * Math.sin(headingRad) + dy * Math.cos(headingRad);
+
+ // 浜屻�佽溅杈嗗湪鑷韩鍧愭爣绯讳腑鐨勭煩褰㈣寖鍥�
+ double xMax = footprint.getHead(); // localX鏂瑰悜锛� 鍚戝墠锛堣溅澶存柟鍚戯級鏄鍊�
+ double xMin = -footprint.getTail(); // localX鏂瑰悜锛� 鍚戝悗锛堣溅灏撅級鏄礋鍊�
+
+ double yMax = footprint.getHalfWidth(); // localY 鏂瑰悜锛� 宸︿晶涓烘
+ double yMin = -footprint.getHalfWidth(); // localY 鏂瑰悜锛� 鍙充晶涓鸿礋
+
+ // 涓夈�佽绠� 鐐� 鏄惁鍦� 鈥滅煩褰㈠鎵� + buffer 鐨勫尯鍩熲�濋噷
+ // 璁＄畻鐐硅窛绂� 鐭╁舰杈圭晫 鐨勨�樿秴鍑洪噺鈥欙紝钀藉湪鐭╁舰鍐呮椂瓒呭嚭閲忎负 0
+ double excessX = 0D; // 榛樿 0 琛ㄧず杩樺湪鐭╁舰閲岄潰
+ if (localX < xMin) {
+ excessX = xMin - localX;
+ } else if (localX > xMax) {
+ excessX = localX - xMax;
+ }
+
+ double excessY = 0D; // 榛樿 0 琛ㄧず杩樺湪鐭╁舰閲岄潰
+ if (localY < yMin) {
+ excessY = yMin - localY;
+ } else if (localY > yMax) {
+ excessY = localY - yMax;
+ }
+
+ // (excessX, excessY) 琛ㄧず璺濈鍚戦噺
+
+ // 閫氳繃 娆ф皬璺濈骞虫柟绠楁硶锛� 鑻ュ埌鐭╁舰鐨勬渶鐭窛绂讳笉瓒呰繃 buffer锛岃鏄庡湪鈥滆溅杈嗗舰鐘� + 缂撳啿鍗婂緞鈥濆唴
+ return excessX * excessX + excessY * excessY <= buffer * buffer;
+ }
+
// v2 BFS ------------------------------------------------------------------------------
// public List<NavigateNode> getWaveScopeByCode0(Integer lev, String code, Double radiusLen) {
// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
--
Gitblit v1.9.1