public void FieldRTree()
{
foreach (AgentPlane ag in agentPlanes)
{
// clear neighbour list
ag.neighbours.Clear();
ag.neighTens.Clear();
// calculate field vector from mesh
// Eventhandler function for RTree search
EventHandler <RTreeEventArgs> rTreeCallback = (object sender, RTreeEventArgs args) =>
{
ag.neighbours.Add(MEnvironment.Vertices[args.Id]);
ag.neighTens.Add(TensorField[args.Id]);
};
MeshRTree.Search(new Sphere(MEnvironment.ClosestPoint(ag.O), MeshSeekRadius), rTreeCallback);
// this resets the acceleration (or desired direction)
// in case a different update sequence is implemented
// remember to reset desired before calculating the new iteration
ag.ResetDesired();
// Other methods
ag.SeekMeshNeighbours(); // seek Mesh Neighbor points
// Interact with scalar field (flee dark areas)
ag.SeekColor();
// Compute Alignment
ag.ComputeFieldAlign(ag.ComputeFieldVector());
}
}
// .......................... methods
public void Update()
{
// . . . . . . . . . . environmental and stigmergic interactions
// calculate field influence vector for agents
foreach (AgentPlane ag in agentPlanes)
{
// clear neighbour list
ag.neighbours.Clear();
ag.neighTens.Clear();
// calculate field vector from mesh
// Eventhandler function for RTree search
EventHandler <RTreeEventArgs> rTreeCallback = (object sender, RTreeEventArgs args) =>
{
ag.neighbours.Add(MEnvironment.Vertices[args.Id]);
ag.neighTens.Add(TensorField[args.Id]);
};
MeshRTree.Search(new Sphere(MEnvironment.ClosestPoint(ag.O), MeshSeekRadius), rTreeCallback);
// this resets the acceleration (or desired direction)
// in case a different update sequence is implemented
// remember to reset desired before calculating the new iteration
ag.ResetDesired();
ag.SeekMeshNeighbours();
ag.SeekColor();
ag.ComputeFieldAlign(ag.ComputeFieldVector(), FieldStrength);
}
// . . . . . . . . . . peer-to-peer interaction
FLockRTree();
// . . . . . . . . . . update position and direction
UpdateAgentsDirection();
}
