static void setupScenario(SFSimulator sim)
{
/* Specify the global time step of the simulation. */
sim.setTimeStep(0.25f);
/* Specify the default parameters for agents that are subsequently added. */
AgentProperty ap = new AgentProperty(15.0f, 10, 5.0f, 1.2f, 2.0f, 2.0f, 0.5f, 8, 0.6f, 100, 13.3f, 10, 0.000005f, 0.25f, 1.0f, new Vector2());
sim.setAgentDefaults(ap);
/*
* Add agents, specifying their start position, and store their goals on the
* opposite side of the environment.
*/
for (int i = 0; i < 5; ++i) {
for (int j = 0; j < 5; ++j) {
sim.addAgent(new Vector2(55.0f + i * 10.0f, 55.0f + j * 10.0f));
goals.Add(new Vector2(-75.0f, -75.0f));
sim.addAgent(new Vector2(-55.0f - i * 10.0f, 55.0f + j * 10.0f));
goals.Add(new Vector2(75.0f, -75.0f));
sim.addAgent(new Vector2(55.0f + i * 10.0f, -55.0f - j * 10.0f));
goals.Add(new Vector2(-75.0f, 75.0f));
sim.addAgent(new Vector2(-55.0f - i * 10.0f, -55.0f - j * 10.0f));
goals.Add(new Vector2(75.0f, 75.0f));
}
}
/*
* Add (polygonal) obstacles, specifying their vertices in counterclockwise
* order.
*/
List<Vector2> obstacle1 = new List<Vector2>();
List<Vector2> obstacle2= new List<Vector2>();
List<Vector2> obstacle3= new List<Vector2>();
List<Vector2> obstacle4= new List<Vector2>();
obstacle1.Add(new Vector2(-10.0f, 40.0f));
obstacle1.Add(new Vector2(-40.0f, 40.0f));
obstacle1.Add(new Vector2(-40.0f, 10.0f));
obstacle1.Add(new Vector2(-10.0f, 10.0f));
obstacle2.Add(new Vector2(10.0f, 40.0f));
obstacle2.Add(new Vector2(10.0f, 10.0f));
obstacle2.Add(new Vector2(40.0f, 10.0f));
obstacle2.Add(new Vector2(40.0f, 40.0f));
obstacle3.Add(new Vector2(10.0f, -40.0f));
obstacle3.Add(new Vector2(40.0f, -40.0f));
obstacle3.Add(new Vector2(40.0f, -10.0f));
obstacle3.Add(new Vector2(10.0f, -10.0f));
obstacle4.Add(new Vector2(-10.0f, -40.0f));
obstacle4.Add(new Vector2(-10.0f, -10.0f));
obstacle4.Add(new Vector2(-40.0f, -10.0f));
obstacle4.Add(new Vector2(-40.0f, -40.0f));
sim.addObstacle(obstacle1);
sim.addObstacle(obstacle2);
sim.addObstacle(obstacle3);
sim.addObstacle(obstacle4);
/* Process the obstacles so that they are accounted for in the simulation. */
sim.processObstacles();
}
static void setupScenario(SFSimulator sim)
{
// Specify the global time step of the simulation
sim.setTimeStep(0.25f);
// Specify the default parameters for agents that are subsequently added
AgentProperty ap = new AgentProperty(15.0f, 10, 5.0f, 1.2f, 2.0f, 2.0f, 0.5f, 8, 0.6f, 100, 13.3f, 10, 0.000005f, 0.25f, 1.0f, new SFVector2());
sim.setAgentDefaults(ap);
// Add agents, specifying their start position, and store their goals on the opposite side of the environment
for (int i = 0; i < 5; ++i)
{
for (int j = 0; j < 5; ++j)
{
sim.addAgent(new SFVector2(55.0f + i * 10.0f, 55.0f + j * 10.0f));
goals.Add(new SFVector2(-75.0f, -75.0f));
sim.addAgent(new SFVector2(-55.0f - i * 10.0f, 55.0f + j * 10.0f));
goals.Add(new SFVector2(75.0f, -75.0f));
sim.addAgent(new SFVector2(55.0f + i * 10.0f, -55.0f - j * 10.0f));
goals.Add(new SFVector2(-75.0f, 75.0f));
sim.addAgent(new SFVector2(-55.0f - i * 10.0f, -55.0f - j * 10.0f));
goals.Add(new SFVector2(75.0f, 75.0f));
}
}
// Add (polygonal) obstacles, specifying their vertices in counterclockwise order
List <SFVector2> obstacle1 = new List <SFVector2>();
List <SFVector2> obstacle2 = new List <SFVector2>();
List <SFVector2> obstacle3 = new List <SFVector2>();
List <SFVector2> obstacle4 = new List <SFVector2>();
obstacle1.Add(new SFVector2(-10.0f, 40.0f));
obstacle1.Add(new SFVector2(-40.0f, 40.0f));
obstacle1.Add(new SFVector2(-40.0f, 10.0f));
obstacle1.Add(new SFVector2(-10.0f, 10.0f));
obstacle2.Add(new SFVector2(10.0f, 40.0f));
obstacle2.Add(new SFVector2(10.0f, 10.0f));
obstacle2.Add(new SFVector2(40.0f, 10.0f));
obstacle2.Add(new SFVector2(40.0f, 40.0f));
obstacle3.Add(new SFVector2(10.0f, -40.0f));
obstacle3.Add(new SFVector2(40.0f, -40.0f));
obstacle3.Add(new SFVector2(40.0f, -10.0f));
obstacle3.Add(new SFVector2(10.0f, -10.0f));
obstacle4.Add(new SFVector2(-10.0f, -40.0f));
obstacle4.Add(new SFVector2(-10.0f, -10.0f));
obstacle4.Add(new SFVector2(-40.0f, -10.0f));
obstacle4.Add(new SFVector2(-40.0f, -40.0f));
sim.addObstacle(obstacle1);
sim.addObstacle(obstacle2);
sim.addObstacle(obstacle3);
sim.addObstacle(obstacle4);
// Process the obstacles so that they are accounted for in the simulation
sim.processObstacles();
}
