/**
* <summary>Clears the simulation.</summary>
*/
public void Clear()
{
agents_ = new List <Agent>();
agentNo2indexDict_ = new Dictionary <int, int>();
index2agentNoDict_ = new Dictionary <int, int>();
defaultAgent_ = null;
kdTree_ = new KdTree();
obstacles_ = new List <Obstacle>();
globalTime_ = 0;
isError = false;
timeStep_ = KInt.ToInt(KInt.divscale / 10);
SetNumWorkers(0);
}
/**
* <summary>Computes the neighbors of this agent.</summary>
*/
internal void computeNeighbors(KdTree kdTree_, IList <Obstacle> obstacles)
{
obstacleNeighbors_.Clear();
agentNeighbors_.Clear();
float rangeSq = RVOMath.sqr(timeHorizonObst_ * maxSpeed_ + radius_);
foreach (var obstacle in obstacles)
{
insertObstacleNeighbor(obstacle, rangeSq); //mozliwy powod bledu ze wzgledu na rangeSq // kdTree.computeObstacleNeighbors(this, rangeSq);
}
if (maxNeighbors_ > 0)
{
rangeSq = RVOMath.sqr(neighborDist_);
kdTree_.computeAgentNeighbors(this, ref rangeSq);
// foreach (var agent in agents)
// insertAgentNeighbor(agent, ref rangeSq); //mozliwy powod bledu ze wzgledu na rangeSq // co z obstacle_next // kdTree.computeAgentNeighbors(this, ref rangeSq);
}
}
public KdTree CopythisToKdtree(IList <Obstacle> target)
{
KdTree tree = new KdTree();
Dictionary <int, KdtreeObstacle> dic = new Dictionary <int, KdtreeObstacle>();
for (int i = 0; i < obstacles.Count; ++i)
{
dic[obstacles[i].id_] = obstacles[i];
}
Dictionary <int, KdtreeObstacleTreeNode> treedic = new Dictionary <int, KdtreeObstacleTreeNode>();
for (int i = 0; i < treenodes.Count; ++i)
{
treedic[treenodes[i].id] = treenodes[i];
}
Dictionary <int, Obstacle> obsdic = new Dictionary <int, Obstacle>();
KdTree.ObstacleTreeNode treenode = Assign2Kdtree(treedic[0], dic, treedic, obsdic);
/*ScriptCommand setnode_cmd = ScriptCommand.Create((int)FrameWorkCmdDefine.SET_KDTREE_TREENODE);
* setnode_cmd.CallParams.WriteObject(tree);
* setnode_cmd.CallParams.WriteObject(treenode);
* setnode_cmd.ExcuteAndRelease();*/
//assign obstacles
target.Clear();
var en = obsdic.GetEnumerator();
while (en.MoveNext())
{
target.Add(en.Current.Value);
}
return(tree);
}