//method for finding neighbouring agents
private List <BristlebotAgent> FindNeighbours(BristlebotAgent agent)
{
List <BristlebotAgent> neighbours = new List <BristlebotAgent>();
foreach (BristlebotAgent neighbour in Agents)
{
if (neighbour != agent && neighbour.Position.DistanceTo(agent.Position) < NeighbourhoodRadius)
{
neighbours.Add(neighbour);
}
}
return(neighbours);
}
//Constructor
public BristlebotSystem(int agentCount, AgentEnvironment iAgentEnvironment)
{
Agents = new List <BristlebotAgent>();
//TO DO check here if you have an environment or not
if (iAgentEnvironment == null)
{
defaultEnv = new AgentEnvironment(Plane.WorldXY, defaultEnvSize, defaultEnvSize, defaultEnvSize);
AgentEnvX = defaultEnv.EnvWidth;
AgentEnvY = defaultEnv.EnvHeight;
AgentEnvZ = defaultEnv.EnvDepth;
for (int i = 0; i < agentCount; i++)
{
BristlebotAgent agent = new BristlebotAgent(
Util.GetRandomPoint(0.0, AgentEnvX, 0.0, AgentEnvY, 0.0, AgentEnvZ),
Util.GetRandomUnitVector() * 4.0,
defaultEnv);
agent.BristlebotSystem = this;
Agents.Add(agent);
}
}
else
{
defaultEnv = iAgentEnvironment;
AgentEnvX = defaultEnv.EnvWidth;
AgentEnvY = defaultEnv.EnvHeight;
AgentEnvZ = defaultEnv.EnvDepth;
for (int i = 0; i < agentCount; i++)
{
BristlebotAgent agent = new BristlebotAgent(
Util.GetRandomPoint(0.0, AgentEnvX, 0.0, AgentEnvY, 0.0, AgentEnvZ),
Util.GetRandomUnitVectorXY() * 4.0,
defaultEnv);
agent.BristlebotSystem = this;
Agents.Add(agent);
}
}
}
//make the compute desired velocity into a function so that we can run it in parallel
private void ComputeAgentDesiredVelocty(BristlebotAgent agent)
{
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
// code for reading input parameters
//declare input parameters
bool iReset = false;
bool iPlay = false;
Point3d initPos = new Point3d(0, 0, 0);
Vector3d initVel = new Vector3d(0.5, 0.5, 1);
AgentEnvironment iAgentEnvironment = new AgentEnvironment(Plane.WorldXY, 50.0, 50.0, 0);
BristlebotAgent iBristlebot = new BristlebotAgent(initPos, initVel);
int iCount = 10;
double iTimeStep = 0.01;
double iNeighbourhoodRadius = 1;
double iSeparationDistance = 1.0;
List <Circle> iRepellers = new List <Circle>();
bool iUseParallel = false;
bool iUseRTree = false;
//read in input parameters
DA.GetData("Reset", ref iReset); //0
DA.GetData("Play", ref iPlay); //1
DA.GetData("Environment", ref iAgentEnvironment); //2
DA.GetData("BristlebotAgent", ref iAgentEnvironment); //2
DA.GetData("Count", ref iCount); //4
DA.GetData("Timestep", ref iTimeStep); //5
DA.GetData("NeighbourhoodRadius", ref iNeighbourhoodRadius); //6
DA.GetData("SeparationDistance", ref iSeparationDistance); //10
DA.GetDataList("Repellers", iRepellers); //11
DA.GetData("UseCoresInParallel", ref iUseParallel); //12
DA.GetData("UseR-TreeSearch", ref iUseRTree); //13
if (iReset || bristlebotSystem == null)
{
bristlebotSystem = new BristlebotSystem(iCount, iAgentEnvironment);
}
else
{
bristlebotSystem.NeighbourhoodRadius = iNeighbourhoodRadius;
bristlebotSystem.Repellers = iRepellers;
bristlebotSystem.UseParallel = iUseParallel;
if (iUseRTree)
{
bristlebotSystem.updateUsingRTree();
}
else
{
bristlebotSystem.Update();
}
if (iPlay)
{
ExpireSolution(true);
}
}
List <GH_Point> positions = new List <GH_Point>();
List <GH_Vector> velocities = new List <GH_Vector>();
foreach (BristlebotAgent agent in bristlebotSystem.Agents)
{
positions.Add(new GH_Point(agent.Position));
velocities.Add(new GH_Vector(agent.Velocity));
}
DA.SetDataList("Positions", positions);
DA.SetDataList("Velocities", velocities);
}
