public void createAgents(int mapSize, int cellSize)
{
int x, y;
seed = unchecked(DateTime.Now.Ticks.GetHashCode());
random = new Random(seed);
/* create the agents */
agents.Clear();
for (int i = 0; i < simulation.get(View.ViewNumericUpDown.NumberOfAgents); i++)
{
/* create the agent */
Color backColor = agentColorPair[i, 0];
Color foreColor = agentColorPair[i, 1];
Agent agent = new Agent((Agent.AgentID)i, simulation.get(View.ViewNumericUpDown.MapSize), simulation.getCellSize(), backColor, foreColor);
/* select random start node */
x = random.Next(simulation.get(View.ViewNumericUpDown.MapSize));
y = random.Next(simulation.get(View.ViewNumericUpDown.MapSize));
Node start = agent.getMap().getNodeAtLocation(new Point(x, y));
agent.setNode(Agent.NodeType.Start, start);
start.setFlag(Node.Flag.IsWalkable, true);
start.setFlag(Node.Flag.IsSpecial, true);
map.getNodeAtLocation(start.getPosition()).setFlag(Node.Flag.IsWalkable, true);
map.getNodeAtLocation(start.getPosition()).setFlag(Node.Flag.IsSpecial, true);
/* select random finish node */
x = random.Next(simulation.get(View.ViewNumericUpDown.MapSize));
y = random.Next(simulation.get(View.ViewNumericUpDown.MapSize));
Node finish = agent.getMap().getNodeAtLocation(new Point(x, y));
agent.setNode(Agent.NodeType.Finish, finish);
finish.setFlag(Node.Flag.IsWalkable, true);
finish.setFlag(Node.Flag.IsSpecial, true);
map.getNodeAtLocation(finish.getPosition()).setFlag(Node.Flag.IsWalkable, true);
map.getNodeAtLocation(finish.getPosition()).setFlag(Node.Flag.IsSpecial, true);
/* add agent to list */
agents.Add(agent);
}
}
public DijkstraAlgorithm(Agent agent, Model model, Node.Method fovMethod)
{
this.agent = agent;
this.model = model;
this.fovMethod = fovMethod;
open = new List<Node>();
closed = new List<Node>();
neighbors = new List<Node>();
}
public void PostStep(Agent agent, Model model)
{
Agent.AgentID id = model.getSimulation().getViewableAgent();
/* only update the selected agent or all agents if selected */
Node currentNode = model.getMap().getNodeAtLocation(agent.getNode(Agent.NodeType.Current).getPosition());
Color backColor = agent.getColor(Agent.ColorType.BackColor);
Color foreColor = agent.getColor(Agent.ColorType.ForeColor);
if (currentNode.isEqual(agent.getNode(Agent.NodeType.Finish)))
currentNode.repaintNode(backColor, foreColor, "F");
else
{
if (model.getSimulation().getVisualizations() == View.Visualizations.Enabled)
currentNode.repaintNode(backColor, foreColor, currentNode.Text);
else
currentNode.repaintNode(backColor, foreColor, "");
}
if (agent.getNode(Agent.NodeType.Current).getParent() != null)
{
Node parentNode = model.getMap().getNodeAtLocation(agent.getNode(Agent.NodeType.Current).getParent().getPosition());
if (model.getSimulation().getPersistenceEnabled() == View.PathPersistence.Disabled | !agent.isActive())
{
if (model.isSpecialNode(parentNode))
{
Agent specialAgent = model.getSpecialNodeAgent(parentNode);
backColor = specialAgent.getColor(Agent.ColorType.BackColor);
foreColor = specialAgent.getColor(Agent.ColorType.ForeColor);
parentNode.repaintNode(backColor, foreColor, "");
}
else
{
if (agent.isActive())
if (parentNode.getFlag(Node.Flag.IsWalkable))
parentNode.repaintNode(Color.White, Color.White, "");
else
parentNode.repaintNode(Color.Gray, Color.Gray, "");
else
{
/* is node visible on active agent's map */
Agent viewAgent = model.getAgent(model.getSimulation().getViewableAgent());
bool isVisibleOnActiveAgentsMap = viewAgent.getMap().isNodeFlag(parentNode, Node.Flag.IsVisible);
if (isVisibleOnActiveAgentsMap)
{
/* is node special */
bool isSpecial = viewAgent.getMap().isNodeFlag(parentNode, Node.Flag.IsSpecial);
if (isSpecial)
{
if (parentNode.isEqual(viewAgent.getNode(Agent.NodeType.Start)))
parentNode.repaintNode(viewAgent.getColor(Agent.ColorType.BackColor), viewAgent.getColor(Agent.ColorType.ForeColor), "S");
else
parentNode.repaintNode(viewAgent.getColor(Agent.ColorType.BackColor), viewAgent.getColor(Agent.ColorType.ForeColor), "F");
}
else
{
/* is node walkable on active agent's map */
bool isWalkable = viewAgent.getMap().isNodeFlag(parentNode, Node.Flag.IsWalkable);
if (isWalkable)
{
bool isPathNode = viewAgent.getMap().isNodeFlag(parentNode,Node.Flag.IsPath);
if (isPathNode)
{
if (model.getSimulation().getPersistenceEnabled() == View.PathPersistence.Enabled)
{
/* non active agent's parent node is also the active agent's path node */
Color b = viewAgent.getColor(Agent.ColorType.BackColor);
Color f = viewAgent.getColor(Agent.ColorType.ForeColor);
parentNode.repaintNode(b, f, "");
}
else
{
/* non active agent's walkable path node with persistence disabled */
parentNode.repaintNode(Color.White, Color.White, "");
}
}
else
{
/* non active agent's parent node is just a visible walkable node */
parentNode.repaintNode(Color.White, Color.White, "");
}
}
else
{
/* non active agent's parent node is just a visible non-walkable node */
parentNode.repaintNode(Color.Gray, Color.Gray, "");
}
}
}
else
{
/* node is not visible on active agent's map therefore we can just paint it black */
parentNode.repaintNode(Color.Black, Color.Black, "");
}
}
}
}
}
}
public bool isSuccess(Agent agent)
{
return agent.getNode(Agent.NodeType.Current).isEqual(agent.getNode(Agent.NodeType.Finish));
}
public AStarAlgorithm(Agent agent, Model model, Node.Method heuristicMethod, Node.Method fovMethod)
{
this.agent = agent;
this.model = model;
this.heuristicMethod = heuristicMethod;
this.fovMethod = fovMethod;
open = new List<Node>();
closed = new List<Node>();
neighbors = new List<Node>();
}
protected bool visualizationPaintOK(Node node, Agent agent, Model model)
{
bool isActive = agent.isActive();
View.Visualizations visualizations = model.getSimulation().getVisualizations();
bool notSpecial = !model.isSpecialNode(node);
bool notPath = !model.isPathNode(node);
if (isActive && visualizations == View.Visualizations.Enabled && notSpecial && notPath)
return true;
else
return false;
}
protected void takeStep(Agent agent, Node algorithmCurrent, Model model)
{
/* check to see if we didn't move at all */
if (algorithmCurrent.isEqual(agent.getNode(Agent.NodeType.Current)))
return;
/* check to see if we need to backtrack */
while (!algorithmCurrent.getParent().isEqual(agent.getNode(Agent.NodeType.Current)))
algorithmCurrent = algorithmCurrent.getParent();
/* take a step! */
agent.setNode(Agent.NodeType.Current, algorithmCurrent);
/* increment step counter */
agent.getCounters().incSteps();
}
protected bool checkTarget(Model model, Agent agent, Node algorithmCurrent)
{
bool targetReached;
/* target is target node if target is not null */
targetReached = algorithmCurrent.isEqual(agent.getNode(Agent.NodeType.Target));
/* take step if target is reached */
if (targetReached)
takeStep(agent, algorithmCurrent, model);
return targetReached;
}
public Agent getAgent(Agent.AgentID agentID)
{
foreach (Agent agent in agents)
{
if (agent.getId() == agentID)
return agent;
}
return null;
}
public bool UpdateAgentMap(Agent agent)
{
int nonWalkableNonVisibleCount = 0;
List<Node> sharedMapFovNodes;
/* get viewable shared map nodes based on the agent's current location */
sharedMapFovNodes = map.getNodesWithinDistance(
agent.getNode(Agent.NodeType.Current),
simulation.getFieldOfViewMethod(),
simulation.get(View.ViewNumericUpDown.FieldOfView));
foreach (Node sharedMapNode in sharedMapFovNodes)
{
/* update the agent's map */
bool isWalkable = sharedMapNode.getFlag(Node.Flag.IsWalkable);
Node agentMapNode = agent.getMap().getNodeAtLocation(sharedMapNode.getPosition());
agentMapNode.setFlag(Node.Flag.IsVisible, true);
agentMapNode.setFlag(Node.Flag.IsWalkable, isWalkable);
/* count the nodes that are not already visible and non walkable in order to reset the algorithm for the next step */
if (!sharedMapNode.getFlag(Node.Flag.IsVisible) && !sharedMapNode.getFlag(Node.Flag.IsWalkable))
nonWalkableNonVisibleCount++;
/* only paint the shared map if the agent is active */
if (agent.isActive())
{
bool isPathNode = map.isNodeFlag(sharedMapNode, Node.Flag.IsPath);
bool isSpecialNode = this.isSpecialNode(sharedMapNode);
bool isVisualizations = (simulation.getVisualizations() == View.Visualizations.Enabled) ? true : false;
/* dont repaint if its the start node, finish node, or a path node */
if (!isSpecialNode && !isPathNode)
{
if (isWalkable)
{
if (isVisualizations)
sharedMapNode.repaintNode(Color.White, Color.Black, sharedMapNode.Text);
else
sharedMapNode.repaintNode(Color.White, Color.White, "");
}
else
sharedMapNode.repaintNode(Color.Gray, Color.Gray, "");
}
}
}
return (nonWalkableNonVisibleCount == 0) ? false : true;
}
public bool SetAgentTarget(Agent agent)
{
Agent agentInView = this.isAgentInView(agent);
/* check if agent is in view */
if (agentInView != null && (simulation.getAgentCooperation() == View.AgentCooperation.Enabled))
{
/* agent in view, check if meeting has already occurred */
if (agent.meetingListCheck(agentInView.getId()))
{
/* meeting has already occurred so set the target node to finish */
agent.setNode(Agent.NodeType.Target, agent.getNode(Agent.NodeType.Finish));
}
else
{
/* agent in view, check if both agents occupy the same same node or adjacent node */
if (agentInView.getNode(Agent.NodeType.Current).isEqual(agent.getNode(Agent.NodeType.Current)) ||
agentInView.getNode(Agent.NodeType.Current).isAdjacent(agent.getNode(Agent.NodeType.Current), simulation.get(View.ViewNumericUpDown.MapSize)))
{
/* agent in view & agents are in sharing distance, therefore update the visible flags */
int sharedNodeCount = 0;
foreach (Node agentInViewMapNode in agentInView.getMap().getNodes())
{
/* get the agent map node */
Node agentMapNode = agent.getMap().getNodeAtLocation(agentInViewMapNode.getPosition());
/* skip nodes that are not visible */
if (!agentInViewMapNode.getFlag(Node.Flag.IsVisible))
continue;
/* skip nodes that are already visible in the agent's map */
if (agentMapNode.getFlag(Node.Flag.IsVisible))
continue;
/* don't share shared nodes (IsShared flag is cleared after both agents complete the sharing) */
if (agentInViewMapNode.getFlag(Node.Flag.IsShared))
continue;
/* set flags flags */
agentMapNode.setFlag(Node.Flag.IsVisible, true);
agentMapNode.setFlag(Node.Flag.IsWalkable, agentInViewMapNode.getFlag(Node.Flag.IsWalkable));
agentMapNode.setFlag(Node.Flag.IsShared, true);
/* increment the shared node counter */
sharedNodeCount++;
/* paint the shared map if the agent is active */
if (agent.isActive())
{
/* get the shared map node */
Node sharedMapNode = map.getNodeAtLocation(agentMapNode.getPosition());
bool isWalkable = agentMapNode.getFlag(Node.Flag.IsWalkable);
bool isPathNode = map.isNodeFlag(sharedMapNode, Node.Flag.IsPath);
bool isSpecialNode = this.isSpecialNode(sharedMapNode);
bool isVisualizations = (simulation.getVisualizations() == View.Visualizations.Enabled) ? true : false;
/* dont repaint if its the start node, finish node, or a path node */
if (!isSpecialNode && !isPathNode)
{
if (isWalkable)
{
if (isVisualizations)
sharedMapNode.repaintNode(Color.White, Color.Black, sharedMapNode.Text);
else
sharedMapNode.repaintNode(Color.White, Color.White, "");
}
else
sharedMapNode.repaintNode(Color.Gray, Color.Gray, "");
}
}
}
agent.meetingListAdd(agentInView.getId());
agent.getCounters().incNodesShared(sharedNodeCount);
/* set the target node to the finish node */
agent.setNode(Agent.NodeType.Target, agent.getNode(Agent.NodeType.Finish));
/* indicate that an algorithm reset is required because the target node was changed */
return true;
}
else
{
/* agent in view but both agents are not occupying the same node yet */
/* set the agent target node to the agent in view's current node */
Node target = agent.getMap().getNodeAtLocation(agentInView.getNode(Agent.NodeType.Current).getPosition());
agent.setNode(Agent.NodeType.Target, target);
/* indicate that an algorithm reset is required because a new target node has been set */
return true;
}
}
}
else
{
/* agent not in view so just keep going to the agents finish node */
agent.setNode(Agent.NodeType.Target, agent.getNode(Agent.NodeType.Finish));
}
/* indicate that an algorithm reset is not required because the target node was not changed */
return false;
}
public Agent isAgentInView(Agent me)
{
foreach (Agent agent in agents)
{
if (agent.getId() != me.getId())
{
double distance = agent.getNode(Agent.NodeType.Current).getDistance(me.getNode(Agent.NodeType.Current), simulation.getFieldOfViewMethod());
if (distance <= simulation.get(View.ViewNumericUpDown.FieldOfView))
{
return agent;
}
}
}
return null;
}
private void PaintAgentMap(Agent agent)
{
Debug.WriteLine("Painting " + agent.getId().ToString() + " Map");
for (int i = 0; i < agent.getMap().getNodes().Count; i++)
{
Node agentMapNode = agent.getMap().getNode(i);
Node sharedMapNode = model.getMap().getNode(i);
sharedMapNode.setFlag(Node.Flag.IsPath, agentMapNode.getFlag(Node.Flag.IsPath));
sharedMapNode.setFlag(Node.Flag.IsSpecial, agentMapNode.getFlag(Node.Flag.IsSpecial));
sharedMapNode.setFlag(Node.Flag.IsVisible, agentMapNode.getFlag(Node.Flag.IsVisible));
sharedMapNode.setFlag(Node.Flag.IsWalkable, agentMapNode.getFlag(Node.Flag.IsWalkable));
sharedMapNode.setCost(Node.Cost.Movement, agentMapNode.getCost(Node.Cost.Movement));
sharedMapNode.setCost(Node.Cost.Heuristic, agentMapNode.getCost(Node.Cost.Heuristic));
sharedMapNode.setCost(Node.Cost.Total, agentMapNode.getCost(Node.Cost.Total));
}
model.Reset(true);
}
private Agent.AgentID incNodeEditAgentId(Model model, Agent.AgentID init)
{
int index = (int)init;
int maxIndex = (model.getSimulation().get(View.ViewNumericUpDown.NumberOfAgents) - 1);
index = (index == maxIndex) ? (int)Agent.AgentID.Agent_0 : index + 1;
this.nodeEditBackColor = model.getAgent((Agent.AgentID)index).getColor(Agent.ColorType.BackColor);
this.nodeEditForeColor = model.getAgent((Agent.AgentID)index).getColor(Agent.ColorType.ForeColor);
return (Agent.AgentID)index;
}
public void setViewableAgent(Agent.AgentID viewableAgent)
{
this.viewableAgent = viewableAgent;
}