//update environment function
public void update()
{
//add agents in these lists
if (addAgents.Count() > 0)
{
foreach (var a in addAgents)
{
pop.Add(a);
}
}
foreach (var a in removeAgents)
{
pop.Remove(a);
}
//clear lists
addAgents.Clear();
removeAgents.Clear();
//octree
if (pop.Count() > 0)
{
pts = new AgentOctree(null, new Vector3d(-bounds, -bounds, -bounds), bounds * 2);
foreach (var a in pop)
{
pts.addPoint(a);
}
}
}
//return copy of child node array - not sure if copy function is correct
public AgentOctree[] getChildren()
{
if (children != null)
{
AgentOctree[] clones = new AgentOctree[8];
Array.Copy(children, 0, clones, 0, 8);
return(clones);
}
return(null);
}
//constructor
public Environment(double _bounds, List <Plane> _container)
{
pop = new List <Agent>();
removeAgents = new List <Agent>();
addAgents = new List <Agent>();
bounds = _bounds;
pts = new AgentOctree(null, new Vector3d(-bounds, -bounds, -bounds), bounds * 2);
container = _container;
//note - we might not use this once planes implemented
//construct generic bbox
boundary = new AABB(new Vector3d(-bounds, -bounds, -bounds), new Vector3d(bounds * 2, bounds * 2, bounds * 2));
//reconstruct to specific bounds
boundary = boundary.fromMinMax(new Vector3d(-bounds, -bounds, -bounds), new Vector3d(bounds * 2, bounds * 2, bounds * 2));
}
//private bool isAutoReducing = false;
//constructor // :base is the same as super to pass down to AABB constructor
public AgentOctree(AgentOctree p, Vector3d o, double halfSize) :
base(Vector3d.Add(o, new Vector3d(halfSize, halfSize, halfSize)), new Vector3d(halfSize, halfSize, halfSize))
{
this.parent = p;
this.halfSize = halfSize;
this.size = halfSize + halfSize;
this.offset = o;
this.numChildren = 0;
if (parent != null)
{
depth = parent.depth + 1;
minNodeSize = parent.minNodeSize;
}
}
public bool addPoint(Agent p)
{
//check if pt is inside cube - write code for contains point
if (containsPoint(p))
{
if (halfSize <= minNodeSize)
{
if (points == null)
{
points = new List <Agent>();
}
points.Add(p);
return(true);
}
else
{
Vector3d plocal = Vector3d.Subtract(p.position, offset);
if (children == null)
{
children = new AgentOctree[8];
}
int octant = getOctantID(plocal);
if (children[octant] == null)
{
Vector3d off = Vector3d.Add(offset, new Vector3d(
(octant & 1) != 0 ? halfSize : 0,
(octant & 2) != 0 ? halfSize : 0,
(octant & 4) != 0 ? halfSize : 0));
children[octant] = new AgentOctree(this, off, halfSize * 0.5);
numChildren++;
}
return(children[octant].addPoint(p));
}
}
return(false);
}
