public static void GrowNewBranches(ParallelQuery <Module> allModules)
{
// SelectMany will join all of the new modules returned by each module (if any) into a single list
allModules.SelectMany(module =>
{
return(module.nodes
// Grow module off of it if not grown and vigor is greater than vigorRootMins
.Where(node => node.main == null && node.lateral == null && node.v > module.plant.plantConfig.vigorRootMin)
.Select(node =>
{
UnityEngine.Debug.Log("Growing new branch at pos " + Node.GetGlobalPos(node));
float lambda = module.plant.plantConfig.lambda;
float dPrime = module.root.v * module.plant.plantConfig.D / module.plant.plantConfig.vigorRootMax;
ModulePrototype closestPrototype = PlantConfig.ClosestPrototype(module.plant.plantConfig, lambda, dPrime);
Module newModule = ModulePrototype.CreateInstance(module.plant, closestPrototype, Node.GetPose(node));
node.main = newModule.root; // connect main to root so the trickle of q and v can work properly
newModule.root.parent = node.main;
return newModule;
}));
})
// Do last piece not in parallel, since we are appending to lists that is not thread safe
.ToList()
.ForEach(newModule =>
{
newModule.plant.modules.Add(newModule);
});
}
public Plant(PlantConfig plantConfig, ModulePrototype startModule, Pose rootPose)
{
this.plantConfig = plantConfig;
this.root = ModulePrototype.CreateInstance(this, startModule, rootPose);
this.modules = new List <Module>();
this.modules.Add(this.root);
}
public static float SquaredDist(ModulePrototype prototype, float lambda, float D)
{
float dLambda = lambda - prototype.lambda;
float dD = D - prototype.lambda;
return(dLambda * dLambda + dD * dD);
}
public static ModulePrototype ClosestPrototype(PlantConfig plantConfig, float lambda, float D)
{
if (plantConfig.modulePrototypes == null)
{
throw new System.ArgumentNullException("plantConfig.modulePrototypes");
}
return(plantConfig.modulePrototypes.MinBy(modulePrototype => ModulePrototype.SquaredDist(modulePrototype, lambda, D)));
}
public static Module CreateInstance(Plant plant, ModulePrototype module, Pose pose)
{
// Make a copy of all the nodes
module.nodes.ForEach(node => { node.copyOfMe = Node.MemberwiseClone(node); });
// Assign references of the copies to the copied elements
List <Node> copiedNodes = Enumerable.ToList(
Enumerable.Select(module.nodes, (node =>
{
node.copyOfMe.parent = GetCopyOfMeIfNotNull(node.parent);
node.copyOfMe.main = GetCopyOfMeIfNotNull(node.main);
node.copyOfMe.lateral = GetCopyOfMeIfNotNull(node.lateral);
return(node.copyOfMe);
})));
Module result = new Module(plant, module.root.copyOfMe, copiedNodes, pose);
result.nodes.ForEach(node =>
{
node.module = result;
});
return(result);
}