void moveAgents()
{
if (!animate)
{
return;
}
for (int i = 0; i < numAgents_; i++)
{
if (!showTargets)
{
targetAgents_[i].SetActive(false);
}
if (timestep >= agents_[i].pos.Count)
{
continue;
}
walkerAgents_[i].transform.SetPositionAndRotation(agents_[i].pos[timestep], Quaternion.identity);
walkerAgents_[i].transform.forward = agents_[i].getForward(timestep);
targetAgents_[i].transform.SetPositionAndRotation(agents_[i].tar[timestep], Quaternion.identity);
List <Vector3> poss = new List <Vector3>();
for (int t = timestep; t >= 0; t--)
{
if (poss.Count >= trailLength)
{
break;
}
poss.Add(agents_[i].pos[t]);
}
walkerAgents_[i].GetComponent <LineRenderer>().positionCount = poss.Count;
walkerAgents_[i].GetComponent <LineRenderer>().SetPositions(poss.ToArray());
}
// number of collisions
int collisions = 0;
float minDist = float.MaxValue;
int densityCount = 0;
for (int i = 0; i < numAgents_; i++)
{
var di = walkerAgents_[i].transform.position - targetAgents_[i].transform.position;
// reached
if (di.magnitude < agents_[i].radius)
{
continue;
}
for (int j = i + 1; j < numAgents_; j++)
{
var dj = walkerAgents_[j].transform.position - targetAgents_[j].transform.position;
// reached
if (dj.magnitude < agents_[j].radius)
{
continue;
}
var Dij = (walkerAgents_[i].transform.position - walkerAgents_[j].transform.position).magnitude;
// check collision
if (Dij < 2 * agents_[i].radius)
{
collisions++;
totalCollisions++;
}
if (Dij < minDist)
{
minDist = Dij;
}
if (Dij < 6 * agents_[i].radius)
{
densityCount++;
}
}
}
for (int i = 0; i < numAgents_; i++)
{
if (timestep >= agents_[i].pos.Count)
{
continue;
}
var di = (targetAgents_[i].transform.position - walkerAgents_[i].transform.position).normalized;
var vi = agents_[i].getForward(timestep).normalized;
float orient = Vector3.SignedAngle(di, vi, Vector3.up);
ort_.AddOrientation(orient);
}
ScreenCapture.CaptureScreenshot("Screenshots/shot_" + (timestep + 1) + ".png");
if (!showInfo)
{
info_.text = "";
}
else
{
info_.text = "Timestep : " + (timestep + 1) + "/" + (maxTimeStep + 1) +
"\nCollisions : " + collisions + "\nTotal Collisions : " + totalCollisions;
}
SW_.WriteLine((timestep + 1) + "," + collisions + "," + densityCount + "," + minDist + "," + ort_.max + "," + ort_.min + "," + ort_.mean + "," + ort_.sd2 + "," + ort_.num);
timestep = (timestep + 1) % (maxTimeStep + 1);
if (timestep == 0)
{
animate = false;
SW_.Close();
}
}
