public static Vector3 CalculateNextVelocity(AgentState agent, AgentEnvironmentModel model)
{
Vector3 drivingForce = DrivingForce(agent);
Vector3 interactionForce = InteractionForce(agent, model.Neighbours);
Vector3 obstacleInteractionForce = ObstacleInteractionForce(agent, model.Walls);
interactionForce.y = 0; //Assumes all agents are vertically oriented
obstacleInteractionForce.y = 0; //Assumes all walls are vertical oriented (perhaps a less fair assumption than the latter)
return(drivingForce +
interactionForce +
obstacleInteractionForce);
}
//TODO benchmark in reference parameters
public static Vector3 CalculateNextVelocity(AgentState agent, AgentEnvironmentModel model)
{
Vector3 drivingForce = DrivingForce(agent);
Vector3 interactionForce = InteractionForce(agent, model.Neighbours);
Vector3 obstacleInteractionForce = ObstacleInteractionForce(agent, model.Walls);
interactionForce.y = 0; //Assumes all agents are vertically oriented
obstacleInteractionForce.y = 0; //Assumes all walls are vertical oriented (perhaps a less fair assumption than the latter)
#if UnityEngine
Debug.DrawLine(agent.position, agent.position + drivingForce, Color.red);
Debug.DrawLine(agent.position, agent.position + interactionForce, Color.cyan);
Debug.DrawLine(agent.position, agent.position + obstacleInteractionForce, Color.yellow);
#endif
return(drivingForce +
interactionForce +
obstacleInteractionForce);
}
public Vector3 NextVelocity(AgentState state, AgentEnvironmentModel model)
{
return(nextVelocity.Invoke(state, model));
}
public override void Initialise(int id, ILocalAvoidance localAvoidance, AgentEnvironmentModel initialEnvironmentModel)
{
AgentState tmp = ConstructState(id, default, default, default, default);