/**
* <summary>Performs a simulation step and updates the two-dimensional
* position and two-dimensional velocity of each agent.</summary>
*
* <returns>The global time after the simulation step.</returns>
*/
public IEnumerator doStep()
{
if (workers_ == null)
{
workers_ = new Worker[numWorkers_];
doneEvents_ = new ManualResetEvent[workers_.Length];
for (int block = 0; block < workers_.Length; ++block)
{
doneEvents_[block] = new ManualResetEvent(false);
workers_[block] = new Worker(block * getNumAgents() / workers_.Length, (block + 1) * getNumAgents() / workers_.Length, doneEvents_[block]);
}
}
if (obstacleIsDirty)
{
kdTree_.buildObstacleTree();
obstacleIsDirty = false;
}
kdTree_.buildAgentTree();
for (int block = 0; block < workers_.Length; ++block)
{
doneEvents_[block].Reset();
ThreadPool.QueueUserWorkItem(workers_[block].step);
}
WaitHandle.WaitAll(doneEvents_);
for (int block = 0; block < workers_.Length; ++block)
{
doneEvents_[block].Reset();
ThreadPool.QueueUserWorkItem(workers_[block].update);
}
WaitHandle.WaitAll(doneEvents_);
yield return(null);
}
/**
* <summary>Processes the obstacles that have been added so that they
* are accounted for in the simulation.</summary>
*
* <remarks>Obstacles added to the simulation after this function has
* been called are not accounted for in the simulation.</remarks>
*/
public void processObstacles()
{
kdTree_.buildObstacleTree();
}
/**
* <summary>Processes the obstacles that have been added so that they
* are accounted for in the simulation.</summary>
*
* <remarks>Obstacles added to the simulation after this function has
* been called are not accounted for in the simulation.</remarks>
*/
internal void processObstacles()
{
kdTree_.buildObstacleTree();
}
