private bool IsExecutable(ICraneMoveEvent move, ICraneAgent agent)
{
if (move.Predecessors > 0 || move.ReleaseTime > _world.Now)
{
return(false);
}
if (!agent.CanReach(move.PickupGirderPosition) || !agent.CanReach(move.DropoffGirderPosition))
{
return(false);
}
if (_world.CraneAgents.Any(other => other != agent &&
other.State != CraneAgentState.Waiting &&
((other.GetGirderPosition() < agent.GetGirderPosition() && (Math.Max(other.GoalPosition1, other.GoalPosition2) + other.Width / 2 > Math.Min(move.PickupGirderPosition, move.DropoffGirderPosition) - agent.Width / 2)) ||
(other.GetGirderPosition() > agent.GetGirderPosition() && (Math.Min(other.GoalPosition1, other.GoalPosition2) - other.Width / 2 < Math.Max(move.PickupGirderPosition, move.DropoffGirderPosition) + agent.Width / 2)))))
{
return(false);
}
return(true);
}
private bool PotentialCausingCollision(ICraneAgent other)
{
if (GoalPosition1 < _crane.GirderPosition && other.GetGirderPosition() < GetGirderPosition())
{
// crane may cause collision with other in two cases
if (other.GoalPosition1 <= other.GetGirderPosition())
{
// 0 .... <-other .... <-crane .... MAX
return(other.GetGirderPosition() + other.Width / 2 > Math.Min(Math.Min(GoalPosition1, GoalPosition2), TargetPosition) - Width / 2);
}
else
{
// 0 .... other-> .... <-crane .... MAX
return(Math.Max(Math.Max(other.GoalPosition1, other.GoalPosition2), other.TargetPosition) + other.Width / 2 > Math.Min(Math.Min(GoalPosition1, GoalPosition2), TargetPosition) - Width / 2);
}
}
else if (GoalPosition1 > _crane.GirderPosition && other.GetGirderPosition() > GetGirderPosition())
{
// crane may cause collision with other in two cases
if (other.GoalPosition1 >= other.GetGirderPosition())
{
// 0 .... crane-> .... other-> .... MAX
return(other.GetGirderPosition() - other.Width / 2 < Math.Max(Math.Max(GoalPosition1, GoalPosition2), TargetPosition) + Width / 2);
}
else
{
// 0 .... crane-> .... <-other .... MAX
return(Math.Min(Math.Min(other.GoalPosition1, other.GoalPosition2), other.TargetPosition) - other.Width / 2 < Math.Max(Math.Max(GoalPosition1, GoalPosition2), TargetPosition) + Width / 2);
}
}
return(false);
}
public virtual double GetClosestToTarget(ICraneAgent agent, double to)
{
var pos = agent.GetGirderPosition();
foreach (var u in Users)
{
if (IsOverlap(u.LowerPosition, u.HigherPosition, Math.Min(pos, to), Math.Max(pos, to)))
{
if (u.LowerPosition < pos && pos < u.HigherPosition)
{
World.Environment.Log($"WARNING: Crane {agent.Id} at position {pos} is within blocked zone [{u.LowerPosition}; {u.HigherPosition}] -> should not be!");
return(pos);
}
to = to > pos ? u.LowerPosition : u.HigherPosition;
}
}
return(to);
}