public Vec3D Multiply(double s)
{
Vec3D r = new Vec3D(this);
r.X *= s;
r.Y *= s;
r.Z *= s;
return(r);
}
public static bool IsPointInside(Polygon3D poly, Vec3D p)
{
if (p.Z < poly.bottom || p.Z > poly.top)
{
return(false);
}
return(Polygon2D.IsPointInside(poly.footprint, new Vec2D(p.X, p.Y)));
}
public Vec3D Add(Vec3D v2)
{
Vec3D r = new Vec3D(this);
r.X += v2.X;
r.Y += v2.Y;
r.Z += v2.Z;
return(r);
}
public Vec3D Subtract(Vec3D v2)
{
Vec3D r = new Vec3D(this);
r.X -= v2.X;
r.Y -= v2.Y;
r.Z -= v2.Z;
return(r);
}
public Vec3D VectorDistanceTo(Vec3D v2)
{
Vec3D r = new Vec3D(v2);
r.X -= X;
r.Y -= Y;
r.Z -= Z;
return(r);
}
public static bool IsPointInside(Polygon3D poly, Vec3D p)
{
if (p.Z < poly.bottom || p.Z > poly.top)
{
return false;
}
return Polygon2D.IsPointInside(poly.footprint, new Vec2D(p.X, p.Y));
}
static public SimulationEvent BuildMoveObjectRequestEvent(ref SimulationModelInfo simModel, int time, string userID, string objectID, Vec3D destination, double throttle)
{
SimulationEvent sc = SimulationEventFactory.BuildEvent(ref simModel, "MoveObjectRequest");
((StringValue)sc["UserID"]).value = userID;
((StringValue)sc["ObjectID"]).value = objectID;
((IntegerValue)sc["Time"]).value = time;
((DoubleValue)sc["Throttle"]).value = throttle;
sc["DestinationLocation"] = destination.ToLocationValue();
return sc;
}
//find t
public static double FindT(Vec3D sensorPoint, Vec3D emitterPoint, Vec3D coneDirection)
{
double t = 0.0;
t = coneDirection.X*(emitterPoint.X - sensorPoint.X);
t += coneDirection.Y * (emitterPoint.Y - sensorPoint.Y);
t += coneDirection.Z * (emitterPoint.Z - sensorPoint.Z);
t /= (Math.Pow(coneDirection.X,2)+ Math.Pow(coneDirection.Y,2) + Math.Pow(coneDirection.Z, 2));
return t;
}
//find closest point
public static Vec3D FindClosestPoint(Vec3D sensingPoint, Vec3D sensingDirection, Vec3D emittingPoint)
{
Vec3D closestPoint = new Vec3D(sensingPoint); //will add to this when t is defined
double t = FindT(sensingPoint, emittingPoint, sensingDirection);
closestPoint.X += t * sensingDirection.X;
closestPoint.Y += t * sensingDirection.Y;
closestPoint.Z += t * sensingDirection.Z;
return(closestPoint);//closestPoint;
}
//find t
public static double FindT(Vec3D sensorPoint, Vec3D emitterPoint, Vec3D coneDirection)
{
double t = 0.0;
t = coneDirection.X * (emitterPoint.X - sensorPoint.X);
t += coneDirection.Y * (emitterPoint.Y - sensorPoint.Y);
t += coneDirection.Z * (emitterPoint.Z - sensorPoint.Z);
t /= (Math.Pow(coneDirection.X, 2) + Math.Pow(coneDirection.Y, 2) + Math.Pow(coneDirection.Z, 2));
return(t);
}
//find closest point
public static Vec3D FindClosestPoint(Vec3D sensingPoint, Vec3D sensingDirection, Vec3D emittingPoint)
{
Vec3D closestPoint = new Vec3D(sensingPoint); //will add to this when t is defined
double t = FindT(sensingPoint, emittingPoint, sensingDirection);
closestPoint.X += t * sensingDirection.X;
closestPoint.Y += t * sensingDirection.Y;
closestPoint.Z += t * sensingDirection.Z;
return closestPoint;//closestPoint;
}
//Find obstructions
//public static List<string> FindObstructions(List<string> allObstructions, Vec3D sensorPoint, Vec3D emitterPoint)
//{//should pass a list of SimulationObjectProxies?
// List<string> obstructionList = new List<string>();
// SimulationObject obj;
// //do obstruction calculations
// foreach (string region in allObstructions)
// {
// obj = bbc
// Polygon3D reg = new Polygon3D(
// }
// return obstructionList;
// //return a list of ACVs?
//}
/// <summary>
/// This method determines if 2 objects are within a certain range. Returns true if
/// the distance between the two objects is less than the range, otherwise returns false. Offers easy
/// calculation of two LocationValue objects.
/// </summary>
/// <param name="range">The max distance that can be between the two objects while still returning true.</param>
/// <param name="objectA">The first object's location as a LocationValue.</param>
/// <param name="objectB">The second object's location as a LocationValue.</param>
/// <returns></returns>
public static bool IsWithinRange(double range, LocationValue objectA, LocationValue objectB)
{
Vec3D objA = new Vec3D(objectA);
Vec3D objB = new Vec3D(objectB);
if (range > objA.ScalerDistanceTo(objB))
{
return true;
}
return false;
}
//Find obstructions
//public static List<string> FindObstructions(List<string> allObstructions, Vec3D sensorPoint, Vec3D emitterPoint)
//{//should pass a list of SimulationObjectProxies?
// List<string> obstructionList = new List<string>();
// SimulationObject obj;
// //do obstruction calculations
// foreach (string region in allObstructions)
// {
// obj = bbc
// Polygon3D reg = new Polygon3D(
// }
// return obstructionList;
// //return a list of ACVs?
//}
/// <summary>
/// This method determines if 2 objects are within a certain range. Returns true if
/// the distance between the two objects is less than the range, otherwise returns false. Offers easy
/// calculation of two LocationValue objects.
/// </summary>
/// <param name="range">The max distance that can be between the two objects while still returning true.</param>
/// <param name="objectA">The first object's location as a LocationValue.</param>
/// <param name="objectB">The second object's location as a LocationValue.</param>
/// <returns></returns>
public static bool IsWithinRange(double range, LocationValue objectA, LocationValue objectB)
{
Vec3D objA = new Vec3D(objectA);
Vec3D objB = new Vec3D(objectB);
if (range > objA.ScalerDistanceTo(objB))
{
return(true);
}
return(false);
}
public static bool SensorDoesLineCross(Polygon3D poly, Vec3D fromP, Vec3D toP)
{
if (fromP.Z < poly.bottom || fromP.Z > poly.top)
{
return(false);
}
if (toP.Z < poly.bottom || toP.Z > poly.top)
{
return(false);
}
return(Polygon2D.SensorDoesLineCross(poly.footprint, new Vec2D(fromP.X, fromP.Y), new Vec2D(toP.X, toP.Y)));
}
public static bool DoesLineCross(Polygon3D poly, Vec3D fromP, Vec3D toP)
{
if (fromP.Z < poly.bottom || fromP.Z > poly.top)
{
return false;
}
if (toP.Z < poly.bottom || toP.Z > poly.top)
{
return false;
}
return Polygon2D.DoesLineCross(poly.footprint, new Vec2D(fromP.X, fromP.Y), new Vec2D(toP.X, toP.Y));
}
public static Vec3D FindIntersect(Polygon3D poly, Vec3D fromP, Vec3D toP)
{
Vec2D intersect = Polygon2D.FindIntersect(poly.footprint,
new Vec2D(fromP.X, fromP.Y),
new Vec2D(toP.X, toP.Y));
if (intersect != null)
{
return(new Vec3D(intersect.X, intersect.Y, fromP.Z));
}
else
{
return(null);
}
}
public static Vec3D FindIntersect(Polygon3D poly, Vec3D fromP, Vec3D toP)
{
Vec2D intersect = Polygon2D.FindIntersect(poly.footprint,
new Vec2D(fromP.X, fromP.Y),
new Vec2D(toP.X, toP.Y));
if (intersect != null)
{
return new Vec3D(intersect.X, intersect.Y, fromP.Z);
}
else
{
return null;
}
}
//detection
public static DetectedAttributeValue Detection(LocationValue sensingLocation,
LocationValue emittingLocation,
DataValue emittingObjectAttribute,
List <ConeValue> sensingCones,
Dictionary <string, double> emitters,
List <SimulationObjectProxy> obstructions,
ref Random random)
{
DetectedAttributeValue returnDAV = new DetectedAttributeValue();
Vec3D sensingPoint = new Vec3D(sensingLocation);
Vec3D emittingPoint = new Vec3D(emittingLocation);
Vec3D sensingDirection = new Vec3D(sensingPoint); //can't set to blank, just ignore.
double coneAngle = 0.0;
double angleBetweenSensorAndEmitter = 0.0;
foreach (ConeValue cone in sensingCones)
{
sensingDirection.Set(cone.direction);
Vec3D closestPoint = FindClosestPoint(sensingPoint, sensingDirection, emittingPoint);
if (cone.extent > sensingPoint.ScalerDistanceTo(closestPoint))
{ //p* is within the cone's extent.
//determine if emitting point is within the spread of the cone.
coneAngle = cone.spread * Math.PI / 180; // System.Math.Atan(emittingPoint.ScalerDistanceTo(closestPoint) / sensingPoint.ScalerDistanceTo(closestPoint));//should be cone.spread
angleBetweenSensorAndEmitter = System.Math.Atan(emittingPoint.ScalerDistanceTo(closestPoint) / sensingPoint.ScalerDistanceTo(closestPoint));
if (coneAngle < angleBetweenSensorAndEmitter)
{
continue; //should go to next cone.
}
if (emitters.ContainsKey(cone.level))
{//emitter has an emission at the same level as the cone.
//returnDAV = (DetectedAttributeValue)ObfuscateAttributeValue(emittingObjectAttribute, emitters[cone.level], ref random);
returnDAV = (DetectedAttributeValue)FuzzAttributeValue(emittingObjectAttribute, emitters[cone.level], ref random);
return(returnDAV);
}
else
{ //emitter does not emit the same level as the cone.
//should this find next best, or just move on?
}
}
}
return(null);
}
public Vec3D Add(Vec3D v2)
{
Vec3D r = new Vec3D(this);
r.X += v2.X;
r.Y += v2.Y;
r.Z += v2.Z;
return r;
}
private List<SimulationObjectProxy> FindObstructions(Vec3D sensorPoint, Vec3D emitterPoint)
{
List<SimulationObjectProxy> obstructionList = new List<SimulationObjectProxy>();
//SimulationObjectProxy blocker;
foreach (KeyValuePair<string, StateDB.ActiveRegion> br in obstructions)
{
if (Polygon3D.SensorDoesLineCross(br.Value.poly, sensorPoint, emitterPoint))
{
obstructionList.Add(objectProxies[br.Key]);
}
}
return obstructionList;
}
public Vec3D VectorDistanceTo(Vec3D v2)
{
Vec3D r = new Vec3D(v2);
r.X -= X;
r.Y -= Y;
r.Z -= Z;
return r;
}
/*
private CapabilityValue.Effect FindCapabilityEffect(CapabilityValue cap, VulnerabilityValue vuln)
{
List<string> vulnNames = new List<string>();
foreach (VulnerabilityValue.Transition t in vuln.transitions)
{
foreach (VulnerabilityValue.TransitionCondition tc in t.conditions)
{
if (!vulnNames.Contains(tc.capability))
{
vulnNames.Add(tc.capability);
}
}
}
foreach (CapabilityValue.Effect e in cap.effects)
{
if (vulnNames.Contains(e.name))
{
return e;
}
}
return null;
}*/
private void TimeTick(SimulationEvent e)
{
if (objectProxies == null)
{
objectProxies = bbClient.GetObjectProxies();
}
time = ((IntegerValue)e["Time"]).value;
DataValue dv = null;
SimulationObjectProxy obProx = null, targetProx = null;
Vec3D myLoc;
Vec3D targetLoc;
string targetID;
bool isWeapon = false;
bool pursueStarted;
CapabilityValue capabilities;
VulnerabilityValue vulnerabilities;
CapabilityValue.Effect effect;
double distance;
LocationValue location;
foreach (string id in objectProxies.Keys)
{
obProx = objectProxies[id];
// update the StateDB info
if (StateDB.physicalObjects[id].ownerID == "")
{
string owner = ((StringValue)obProx["OwnerID"].GetDataValue()).value;
if (StateDB.decisionMakers.ContainsKey(owner))
{
StateDB.physicalObjects[id].ownerID = owner;
}
}
if (StateDB.physicalObjects[id].speciesName == "")
{
string speciesName = ((StringValue)obProx["ClassName"].GetDataValue()).value;
StateDB.physicalObjects[id].speciesName = speciesName;
}
if (StateDB.physicalObjects[id].ownerID != "" && StateDB.physicalObjects[id].teamName == "")
{
if (StateDB.decisionMakers[StateDB.physicalObjects[id].ownerID].team != null)
{
StateDB.physicalObjects[id].teamName = StateDB.decisionMakers[StateDB.physicalObjects[id].ownerID].team.id;
}
}
if (((StringValue)obProx["AttackState"].GetDataValue()).value == "BEING_ATTACKED")
{
continue;
}
AttackCollectionValue attCV = (AttackCollectionValue)obProx["CurrentAttacks"].GetDataValue();
if (attCV.GetCurrentSelfDefenseAttacks().Count == 0)
//if (((StringValue)obProx["AttackTargetID"].GetDataValue()).value == "")
{
dv = obProx["SelfDefenseStartAttack"].GetDataValue();
((BooleanValue)dv).value = false;
obProx["SelfDefenseStartAttack"].SetDataValue(dv);
dv = obProx["SelfDefenseCapability"].GetDataValue();
((StringValue)dv).value = "";
obProx["SelfDefenseCapability"].SetDataValue(dv);
dv = obProx["SelfDefenseTargetID"].GetDataValue();
((StringValue)dv).value = "";
obProx["SelfDefenseTargetID"].SetDataValue(dv);
}
if (((BooleanValue)obProx["SelfDefenseStartAttack"].GetDataValue()).value == true)
{
continue;
}
isWeapon = ((BooleanValue)obProx["IsWeapon"].GetDataValue()).value;
pursueStarted = ((BooleanValue)obProx["PursueStarted"].GetDataValue()).value;
targetID = ((StringValue)obProx["PursueTargetID"].GetDataValue()).value;
capabilities = (CapabilityValue)obProx["Capability"].GetDataValue();
if (isWeapon && pursueStarted && objectProxies.ContainsKey(targetID))
{
targetProx = objectProxies[targetID];
location = (LocationValue)obProx["Location"].GetDataValue();
if (!location.exists)
{
continue;
}
myLoc = new Vec3D(location);
location = (LocationValue)targetProx["Location"].GetDataValue();
if (!location.exists)
{
continue;
}
targetLoc = new Vec3D(location);
distance = myLoc.ScalerDistanceTo(targetLoc);
vulnerabilities = (VulnerabilityValue)targetProx["Vulnerability"].GetDataValue();
//string cap = FindCapability(capabilities, vulnerabilities);
effect = SimUtility.FindCapabilityEffect(capabilities, vulnerabilities);
if (effect != null && distance < effect.range)
{
dv = obProx["SelfDefenseStartAttack"].GetDataValue();
((BooleanValue)dv).value = true;
obProx["SelfDefenseStartAttack"].SetDataValue(dv);
dv = obProx["SelfDefenseCapability"].GetDataValue();
((StringValue)dv).value = effect.name;
obProx["SelfDefenseCapability"].SetDataValue(dv);
dv = obProx["SelfDefenseTargetID"].GetDataValue();
((StringValue)dv).value = targetID;
obProx["SelfDefenseTargetID"].SetDataValue(dv);
}
else if (effect == null && distance < 1)
{
distClient.PutEvent(SimUtility.BuildStateChangeEvent(ref simModel, time, id, "Dead"));
}
continue;
}
string ownerID = ((StringValue)obProx["OwnerID"].GetDataValue()).value;
if (StateDB.decisionMakers.ContainsKey(ownerID))
{
StateDB.DecisionMaker thisDM = StateDB.decisionMakers[ownerID];
List<string> targets = ((StringListValue)obProx["TargetsInRange"].GetDataValue()).strings;
//if (targets.Count == 0)
//{
// continue;
//}
foreach (string target in targets)
{
SimulationObjectProxy obProx2 = objectProxies[target];
string ownerID2 = ((StringValue)obProx2["OwnerID"].GetDataValue()).value;
if (!StateDB.decisionMakers.ContainsKey(ownerID2))
{
continue;
}
StateDB.DecisionMaker thatDM = StateDB.decisionMakers[ownerID2];
vulnerabilities = (VulnerabilityValue)obProx2["Vulnerability"].GetDataValue();
effect = SimUtility.FindCapabilityEffect(capabilities, vulnerabilities);
if (effect != null && thisDM.isHostile(thatDM) && !thisDM.isHuman)
{
dv = obProx["SelfDefenseStartAttack"].GetDataValue();
((BooleanValue)dv).value = true;
obProx["SelfDefenseStartAttack"].SetDataValue(dv);
dv = obProx["SelfDefenseCapability"].GetDataValue();
((StringValue)dv).value = effect.name;
obProx["SelfDefenseCapability"].SetDataValue(dv);
dv = obProx["SelfDefenseTargetID"].GetDataValue();
((StringValue)dv).value = target;
obProx["SelfDefenseTargetID"].SetDataValue(dv);
break;
}
}
}
}
}
static public SimulationEvent BuildHistory_AttackerObjectReportEvent(ref SimulationModelInfo simModel, int time, string objectID, Vec3D location, string targetObjectID, Vec3D targetLocation, string capabilityName, int appliedIntensity)
{
SimulationEvent sc = SimulationEventFactory.BuildEvent(ref simModel, "History_AttackerObjectReport");
((IntegerValue)sc["Time"]).value = time;
((StringValue)sc["ObjectID"]).value = objectID;
sc["ObjectLocation"] = (DataValue)location.ToLocationValue();
((StringValue)sc["TargetObjectID"]).value = targetObjectID;
sc["TargetObjectLocation"] = (DataValue)targetLocation.ToLocationValue();
((StringValue)sc["CapabilityName"]).value = capabilityName;
((IntegerValue)sc["AppliedIntensity"]).value = appliedIntensity;
return sc;
}
public void Set(Vec3D v)
{
X = v.X;
Y = v.Y;
Z = v.Z;
}
public double ScalerDistanceTo(Vec3D v2)
{
return Math.Sqrt(Math.Pow(v2.X - X, 2)
+ Math.Pow(v2.Y - Y, 2)
+ Math.Pow(v2.Z - Z, 2));
}
private void MoveObject(SimulationEvent e)
{
//AD: Inserted a return here as all motion logic lives in the DIS adapter now.
return;
//TODO: adjust heading (current, expected, delta)
//use radius math to calculate turn radius
//objectProxies = bbClient.GetObjectProxies();
DataValue dv = null;
string id = ((StringValue)e["ObjectID"]).value;
SimulationObjectProxy obProx = objectProxies[id];
double throttle = 0;
double maxSpeed = 0;
double speedMultiplier = 0;
Vec3D curVec = new Vec3D(0, 0, 0);
Vec3D destVec = new Vec3D(0, 0, 0);
Vec3D velVec = new Vec3D(0, 0, 0);
dv = obProx["Location"].GetDataValue();
curVec.Set((LocationValue)dv);
dv = obProx["MaximumSpeed"].GetDataValue();
maxSpeed = ((DoubleValue)dv).value;
dv = e["DestinationLocation"];
destVec.Set((LocationValue)dv);
obProx["DestinationLocation"].SetDataValue(dv);
dv = e["Throttle"];
throttle = ((DoubleValue)dv).value;
obProx["Throttle"].SetDataValue(dv);
dv = obProx["ActiveRegionSpeedMultiplier"].GetDataValue();
speedMultiplier = ((DoubleValue)dv).value;
velVec = curVec.VectorDistanceTo(destVec);
velVec.Normalize();
velVec = velVec.Multiply(maxSpeed * throttle * speedMultiplier);
obProx["Velocity"].SetDataValue(velVec.ToVelocityValue());
// System.Console.WriteLine("Object {0} Velocity={1}", id.ToString(), velVec.ToString());
}
private bool IsOnSea(Vec3D loc)
{
if (loc.Z > 0)
{
return false;
}
else
{
return !OnLandRegion(new Vec2D(loc.X, loc.Y));
}
}
/// <summary>
///
/// </summary>
/// <param name="allObjectViews"></param>
private void SenseAllObjects(ref Dictionary<string, Dictionary<string, AttributeCollectionValue>> allObjectsViews)
{
SimulationObjectProxy sensingProxy = null;
SimulationObjectProxy targetProxy = null;
Vec3D sensingLocation = null;
Vec3D targetsLocation = null;
LocationValue senLocation = null;
LocationValue tarLocation = null;
double distance = 0.0;
SensorArrayValue sav = null;
DataValue targetsAttribute = null;
string ownerID = null;
string objectType = null;
DetectedAttributeValue detectedAttribute;
AttributeCollectionValue singleAttributeCollection = null;
bool isSensed = false;
// The dictionary is constantly created in this method //
Dictionary<string, AttributeCollectionValue> singleObjectView;
//AD to improve this later:
// for each object in the visible ObjectDistances collection
// for each object after the current index
// check for the index object's view of the nested object
// check for the nested object's view of the index object
//Possible hangup is the "All" emitter.
int x = 0;
//Each object senses each other object
//foreach (string sensorObjectID in listOfObjectIDs)
foreach (KeyValuePair<string, List<string>> networks in networkRosters)
{
if (!activeSensorNetworks[networks.Key])
continue;
foreach (string sensorObjectID in networkObjects[networks.Key])
{
sensingProxy = objectProxies[sensorObjectID];
objectType = sensingProxy.GetObjectType();
senLocation = sensingProxy["Location"].GetDataValue() as LocationValue;
if (senLocation.exists)
{
ownerID = ((StringValue)sensingProxy["OwnerID"].GetDataValue()).value;
singleObjectView = new Dictionary<string, AttributeCollectionValue>();
x++;
//foreach (string targetObjectID in listOfObjectIDs)
foreach (List<string> objects in networkObjects.Values)
{
if (objects.Contains(sensorObjectID))
{
if (((EmitterValue)sensingProxy["Emitters"].GetDataValue()).emitters.ContainsKey("Invisible"))
{
continue;
}
string target = sensorObjectID;
singleAttributeCollection = new AttributeCollectionValue();
foreach (KeyValuePair<string, AttributeInfo> simModelAtt in simModel.objectModel.objects[objectType].attributes)
{
if (!simModelAtt.Value.ownerObservable == true)
continue;
//if (!sensingProxy.GetKeys().Contains(simModelAtt.Key))
// continue;
DataValue t = sensingProxy[simModelAtt.Key].GetDataValue();
if (t.dataType == "CustomAttributesType")
{
Dictionary<string, DataValue> copiedDict = CopyFromCustomAttributes(((CustomAttributesValue)t).attributes);
t = new CustomAttributesValue();
((CustomAttributesValue)t).attributes = copiedDict;
}
detectedAttribute = new DetectedAttributeValue();
detectedAttribute.stdDev = 100;
detectedAttribute.value = DataValueFactory.BuildFromDataValue(t);
AddAttributeToACV(ref singleAttributeCollection, simModelAtt.Key, detectedAttribute);
}//end foreach sensable attribute
if (!allObjectsViews.ContainsKey(sensorObjectID))
{
allObjectsViews.Add(sensorObjectID, new Dictionary<string, AttributeCollectionValue>());
}
if (!objectViews.ContainsKey(sensorObjectID))
{
objectViews.Add(sensorObjectID, new ObjectsAttributeCollection());
}
//update the global "allObjectViews". The return from UpdateObject is the collection of attributes
//that have changed. These attributes are stored in allObjectsViews and then sent out
//to users.
AttributeCollectionValue changedAttributes = objectViews[sensorObjectID].UpdateObject(target, singleAttributeCollection);
//if (changedAttributes != null && selectedRangeRingLevel != RangeRingLevels.DISABLED)
//{
// CalculateRangeRings(ref changedAttributes, ref sensingProxy);
//}
if (changedAttributes != null)
{
allObjectsViews[sensorObjectID].Add(target, changedAttributes);
}
else//this is so there is at least the empty entry for the detected object so
//you still know it is detected.
{
if (!allObjectsViews[sensorObjectID].ContainsKey(target))
{
allObjectsViews[sensorObjectID].Add(target, new AttributeCollectionValue());
}
}
}
else
{
foreach (string targetObjectID in objects)
{//sensing and target objects are not the same
targetProxy = objectProxies[targetObjectID];
tarLocation = targetProxy["Location"].GetDataValue() as LocationValue;
if (tarLocation.exists)
{
EmitterValue emitters = targetProxy["Emitters"].GetDataValue() as EmitterValue;
if (emitters.emitters.ContainsKey("All"))
{
//if an object has an all emitter, retrieve all attributes without sensing algorithm
AttributeCollectionValue atts = new AttributeCollectionValue();
if (singleObjectView.ContainsKey(targetObjectID))
{
atts = singleObjectView[targetObjectID];
}
SenseAllAttributes(ref atts, targetProxy);
singleObjectView[targetObjectID] = atts;
isSensed = true;
if (!allObjectsViews.ContainsKey(sensorObjectID))
{
allObjectsViews.Add(sensorObjectID, new Dictionary<string, AttributeCollectionValue>());
}
if (!objectViews.ContainsKey(sensorObjectID))
{
objectViews.Add(sensorObjectID, new ObjectsAttributeCollection());
}
//update the global "allObjectViews". The return from UpdateObject is the collection of attributes
//that have changed. These attributes are stored in allObjectsViews and then sent out
//to users.
AttributeCollectionValue changedAttributes = objectViews[sensorObjectID].UpdateObject(targetObjectID, atts);
//if (changedAttributes != null && selectedRangeRingLevel == RangeRingLevels.FULL)
//{//the only way to sense a "target" here is for FULL ring display
// CalculateRangeRings(ref changedAttributes, ref targetProxy);
//}
if (changedAttributes != null)
{
allObjectsViews[sensorObjectID].Add(targetObjectID, changedAttributes);
}
else//this is so there is at least the empty entry for the detected object so
//you still know it is detected.
{
if (!allObjectsViews[sensorObjectID].ContainsKey(targetObjectID))
{
allObjectsViews[sensorObjectID].Add(targetObjectID, new AttributeCollectionValue());
}
}
}
else if (emitters.emitters.ContainsKey("Invisible"))
{
continue;
}
else
{//object does not have an all emitter, continue to check each emitter value
AttributeCollectionValue atts = new AttributeCollectionValue();
if (Omniscience)
{
if (singleObjectView.ContainsKey(targetObjectID))
{
atts = singleObjectView[targetObjectID];
}
SenseAllAttributes(ref atts, targetProxy);
singleObjectView[targetObjectID] = atts;
isSensed = true;
if (!allObjectsViews.ContainsKey(sensorObjectID))
{
allObjectsViews.Add(sensorObjectID, new Dictionary<string, AttributeCollectionValue>());
}
if (!objectViews.ContainsKey(sensorObjectID))
{
objectViews.Add(sensorObjectID, new ObjectsAttributeCollection());
}
//update the global "allObjectViews". The return from UpdateObject is the collection of attributes
//that have changed. These attributes are stored in allObjectsViews and then sent out
//to users.
AttributeCollectionValue changedAttributes = objectViews[sensorObjectID].UpdateObject(targetObjectID, atts);
//if (changedAttributes != null && selectedRangeRingLevel == RangeRingLevels.FULL)
//{//the only way to sense a "target" here is for FULL ring display
// CalculateRangeRings(ref changedAttributes, ref targetProxy);
//}
if (changedAttributes != null)
{
allObjectsViews[sensorObjectID].Add(targetObjectID, changedAttributes);
}
else//this is so there is at least the empty entry for the detected object so
//you still know it is detected.
{
if (!allObjectsViews[sensorObjectID].ContainsKey(targetObjectID))
{
allObjectsViews[sensorObjectID].Add(targetObjectID, new AttributeCollectionValue());
}
}
continue;
}
sensingLocation = new Vec3D(senLocation);
targetsLocation = new Vec3D(tarLocation);
isSensed = false;
distance = sensingLocation.ScalerDistanceTo(targetsLocation);
sav = sensingProxy["Sensors"].GetDataValue() as SensorArrayValue;
foreach (SensorValue sv in sav.sensors)
{
if (distance < sv.maxRange)
{
//Find obstructions
List<SimulationObjectProxy> obstructions = FindObstructions(sensingLocation, targetsLocation);
foreach (KeyValuePair<string, List<ConeValue>> kvp in sv.ranges)
{ //Key is the attribute being sensed, value is a list of cones
if (kvp.Key == "All")
{
atts = new AttributeCollectionValue();
if (singleObjectView.ContainsKey(targetObjectID))
{
atts = singleObjectView[targetObjectID];
}
SenseAllAttributes(ref atts, targetProxy);
singleObjectView[targetObjectID] = atts;
isSensed = true;
}
else //not an All sensor, so run detection algorithm
{//Added in main-line
if (!emitters.emitters.ContainsKey(kvp.Key))
{
continue;
}
//Custom attributes fix:
DataValue currentDataValue;
try
{
currentDataValue = targetProxy[kvp.Key].GetDataValue();
}
catch
{
currentDataValue = targetProxy["CustomAttributes"].GetDataValue();
currentDataValue = ((CustomAttributesValue)currentDataValue)[kvp.Key];
//will throw an error here if object doesn't contain custom atts, or
//if it doesnt contain the specified custom att.
}
bool isObstructed = false;
foreach (SimulationObjectProxy reg in obstructions)
{
foreach (string attributeBlocked in ((StringListValue)reg["BlocksSensorTypes"].GetDataValue()).strings)
{
if (kvp.Key == attributeBlocked)
{
isObstructed = true;
}
}
}
if (isObstructed)
{
detectedAttribute = new DetectedAttributeValue();
detectedAttribute.value = DataValueFactory.BuildValue(currentDataValue.dataType);
detectedAttribute.confidence = 0;
//continue;
}
else
{
targetsAttribute = DataValueFactory.BuildFromDataValue(currentDataValue);
//ev is emitters
Dictionary<string, double> emitterCollection = emitters.emitters[kvp.Key];
detectedAttribute = new DetectedAttributeValue();
detectedAttribute = ObjectMath.Detection(senLocation, tarLocation, targetsAttribute, kvp.Value, emitterCollection, obstructions, ref randomGenerator);
}
if (detectedAttribute != null)
{
singleAttributeCollection = new AttributeCollectionValue();
if (singleObjectView.ContainsKey(targetObjectID))
{
singleAttributeCollection = singleObjectView[targetObjectID];
}
AddAttributeToACV(ref singleAttributeCollection, kvp.Key, detectedAttribute);
isSensed = true;
}
}
}//end foreach attribute in sensor
//if the object has any attributes sensed, fill in some other info for the object's view.
if (isSensed)
{
detectedAttribute = new DetectedAttributeValue();
detectedAttribute.stdDev = 100;
detectedAttribute.value = targetProxy["ID"].GetDataValue();
if (singleAttributeCollection == null)
{
singleAttributeCollection = new AttributeCollectionValue();
}
if (!singleObjectView.ContainsKey(targetObjectID))
{
singleObjectView.Add(targetObjectID, singleAttributeCollection);
}
singleAttributeCollection = singleObjectView[targetObjectID];
AddAttributeToACV(ref singleAttributeCollection, "ID", detectedAttribute);
detectedAttribute = new DetectedAttributeValue();
detectedAttribute.stdDev = 100;
detectedAttribute.value = targetProxy["OwnerID"].GetDataValue();
AddAttributeToACV(ref singleAttributeCollection, "OwnerID", detectedAttribute);
}//end if isSensed.
}
}//end foreach sensor in sensor array
if (singleObjectView.ContainsKey(targetObjectID))
{
AttributeCollectionValue attr = singleObjectView[targetObjectID];
if (!allObjectsViews.ContainsKey(sensorObjectID))
{
allObjectsViews.Add(sensorObjectID, new Dictionary<string, AttributeCollectionValue>());
}
if (!objectViews.ContainsKey(sensorObjectID))
{
objectViews.Add(sensorObjectID, new ObjectsAttributeCollection());
}
if (attr.attributes.ContainsKey("CustomAttributes"))
{
DataValue t = ((DetectedAttributeValue)attr["CustomAttributes"]).value;
double conf = ((DetectedAttributeValue)attr["CustomAttributes"]).confidence;
Dictionary<string, DataValue> copiedDict = CopyFromCustomAttributes(((CustomAttributesValue)t).attributes);
t = new CustomAttributesValue();
((CustomAttributesValue)t).attributes = copiedDict;
attr.attributes.Remove("CustomAttributes");
attr.attributes.Add("CustomAttributes", DataValueFactory.BuildDetectedValue(t, Convert.ToInt32(conf)));
}
//update the global "allObjectViews". The return from UpdateObject is the collection of attributes
//that have changed. These attributes are stored in allObjectsViews and then sent out
//to users.
AttributeCollectionValue changedAttributes = objectViews[sensorObjectID].UpdateObject(targetObjectID, attr);
//if (changedAttributes != null && selectedRangeRingLevel == RangeRingLevels.FULL)
//{//the only way to sense a "target" here is for FULL ring display
// CalculateRangeRings(ref changedAttributes, ref targetProxy);
//}
if (changedAttributes != null)
{
allObjectsViews[sensorObjectID].Add(targetObjectID, changedAttributes);
}
else//this is so there is at least the empty entry for the detected object so
//you still know it is detected.
{
if (!allObjectsViews[sensorObjectID].ContainsKey(targetObjectID))
{
allObjectsViews[sensorObjectID].Add(targetObjectID, new AttributeCollectionValue());
}
}
}
else
{
if (objectViews.ContainsKey(sensorObjectID))
{
if (objectViews[sensorObjectID].ContainsObject(targetObjectID))
{
objectViews[sensorObjectID].RemoveObject(targetObjectID);
//if you once knew of this object, and now don't, remove it from object's view.
}
}
}
}//end emitter detection
}//end if target is visible
}
}
}//end foreach target object
}//end if sensor is visible
}//end of foreach sensing object
}//end of Foreach sensor network
//if (x > 0)
// Console.Out.WriteLine("ViewPro: {0} objects were sensing at time {1}.", x, currentTick / 1000);
}
private void RevealObject(SimulationEvent e)
{
//objectProxies = bbClient.GetObjectProxies(); // update my objects record
AttributeCollectionValue atts = (AttributeCollectionValue)e["Attributes"];
if (e["ObjectID"] != null)
{
string id = ((StringValue)e["ObjectID"]).value;
SimulationObjectProxy prox = null;// objectProxies[id];
prox = GetObjectProxy(id);
if (prox == null)
return;
// initialize any object values I need to.
foreach (string attname in atts.attributes.Keys)
{
if (prox.GetKeys().Contains(attname) && prox[attname].IsOwner())
{
prox[attname].SetDataValue(atts[attname]);
}
}
/*
* If object is docked to parent, ignore location
*/
DataValue dv = prox["DockedToParent"].GetDataValue();
if (((BooleanValue)dv).value)
{
dv = prox["Location"].GetDataValue();
((LocationValue)dv).exists = false;
prox["Location"].SetDataValue(dv);
}
//Initialize collision shape
DoubleValue size = (DoubleValue)prox["Size"].GetDataValue();
if (size.value > 0)
{
collisionShapes[id] = createRelativeCollisionShape(size.value);
}
else
{
if (collisionShapes.ContainsKey(id))
{
collisionShapes.Remove(id);
}
}
if (!atts.attributes.ContainsKey("Heading"))
{
//default heading is 0,1,0 for now, which should be heading 0, due north
Vec3D defaultHeading = new Vec3D(0, 1, 0);
double degHeading = 180 / Math.PI * Math.Atan2(defaultHeading.X, defaultHeading.Y);
prox["Heading"].SetDataValue(DataValueFactory.BuildDouble(degHeading));
}
else
{
}
// TODO: Kill object if revealed inside an obstructing region
}
}
public Vec3D(Vec3D v)
{
X = v.X;
Y = v.Y;
Z = v.Z;
}
public void Set(Vec3D v)
{
X = v.X;
Y = v.Y;
Z = v.Z;
}
static public SimulationEvent BuildHistory_AttackedObjectReportEvent(ref SimulationModelInfo simModel, int time, string objectID, Vec3D location, bool success, string newState)
{
SimulationEvent sc = SimulationEventFactory.BuildEvent(ref simModel, "History_AttackedObjectReport");
((IntegerValue)sc["Time"]).value = time;
((StringValue)sc["ObjectID"]).value = objectID;
sc["ObjectLocation"] = (DataValue)location.ToLocationValue();
((BooleanValue)sc["AttackSuccess"]).value = success;
((StringValue)sc["NewState"]).value = newState;
return sc;
}
public Vec3D Subtract(Vec3D v2)
{
Vec3D r = new Vec3D(this);
r.X -= v2.X;
r.Y -= v2.Y;
r.Z -= v2.Z;
return r;
}
private bool IsObstructed(Vec3D cur, Vec3D dest, String myID)
{
foreach (StateDB.ActiveRegion reg in StateDB.activeRegions.Values)
{
if (reg.blockingRegion && Polygon3D.DoesLineCross(reg.poly, cur, dest))
{
return true;
}
}
foreach (String id in collisionShapes.Keys)
{
if (id != myID)
{
SimulationObjectProxy obProx = objectProxies[id];
LocationValue loc = (LocationValue)obProx["Location"].GetDataValue();
if (loc.exists)
{
Polygon3D absShape = createAbsoluteCollisionShape(collisionShapes[id], loc);
if (Polygon3D.DoesLineCross(absShape, cur, dest))
{
return true;
}
}
}
}
return false;
}
public Vec3D(Vec3D v)
{
X = v.X;
Y = v.Y;
Z = v.Z;
}
private bool IsInObstruction(Vec3D cur)
{
foreach (StateDB.ActiveRegion reg in StateDB.activeRegions.Values)
{
if (reg.blockingRegion && Polygon3D.IsPointInside(reg.poly, cur))
{
return true;
}
}
return false;
}
public Vec3D Multiply(double s)
{
Vec3D r = new Vec3D(this);
r.X *= s;
r.Y *= s;
r.Z *= s;
return r;
}
public double ScalerDistanceTo(Vec3D v2)
{
return(Math.Sqrt(Math.Pow(v2.X - X, 2)
+ Math.Pow(v2.Y - Y, 2)
+ Math.Pow(v2.Z - Z, 2)));
}
public static void UpdateObjectLocation(String objID, Vec3D loc)
{
if (_objectLocations.ContainsKey(objID))
{
_objectLocations[objID].X = loc.X;
_objectLocations[objID].Y = loc.Y;
_objectLocations[objID].Z = loc.Z;
}
else
{
_objectLocations.Add(objID, new Vec3D(loc));
}
double dist;
foreach (String o in _objectLocations.Keys)
{
if (o == objID)
continue;
dist = _objectLocations[o].ScalerDistanceTo(loc);
SetScalarDistanceBetweenTwoObjects(o, objID, dist);
}
UpdateOthersForNewLocation(objID);
UpdateObjectsInSensorRange(objID); //might be a bit expensive to do this often
}
static public SimulationEvent BuildHistory_SubplatformLaunchEvent(ref SimulationModelInfo simModel, int time, string objectID, string parentObjectID, Vec3D parentLocation, Vec3D launchDestinationLocation, bool isWeaponLaunch, string targetObjectID)
{
SimulationEvent sc = SimulationEventFactory.BuildEvent(ref simModel, "History_SubplatformLaunch");
((IntegerValue)sc["Time"]).value = time;
((StringValue)sc["ObjectID"]).value = objectID;
((StringValue)sc["ParentObjectID"]).value = parentObjectID;
sc["ParentObjectLocation"] = (DataValue)parentLocation.ToLocationValue();
sc["LaunchDestinationLocation"] = (DataValue)launchDestinationLocation.ToLocationValue();
((BooleanValue)sc["IsWeaponLaunch"]).value = isWeaponLaunch;
((StringValue)sc["TargetObjectID"]).value = targetObjectID;
return sc;
}
private List<String> GetActiveRegions(Vec3D cur)
{
List<string> regions = new List<string>();
foreach (StateDB.ActiveRegion reg in StateDB.activeRegions.Values)
{
if (Polygon3D.IsPointInside(reg.poly, cur))
{
regions.Add(reg.id);
}
}
return regions;
}
//detection
public static DetectedAttributeValue Detection(LocationValue sensingLocation,
LocationValue emittingLocation,
DataValue emittingObjectAttribute,
List<ConeValue> sensingCones,
Dictionary<string, double> emitters,
List<SimulationObjectProxy> obstructions,
ref Random random)
{
DetectedAttributeValue returnDAV = new DetectedAttributeValue();
Vec3D sensingPoint = new Vec3D(sensingLocation);
Vec3D emittingPoint = new Vec3D(emittingLocation);
Vec3D sensingDirection = new Vec3D(sensingPoint); //can't set to blank, just ignore.
double coneAngle = 0.0;
double angleBetweenSensorAndEmitter = 0.0;
foreach(ConeValue cone in sensingCones)
{
sensingDirection.Set(cone.direction);
Vec3D closestPoint = FindClosestPoint(sensingPoint, sensingDirection, emittingPoint);
if (cone.extent > sensingPoint.ScalerDistanceTo(closestPoint))
{//p* is within the cone's extent.
//determine if emitting point is within the spread of the cone.
coneAngle = cone.spread * Math.PI / 180;// System.Math.Atan(emittingPoint.ScalerDistanceTo(closestPoint) / sensingPoint.ScalerDistanceTo(closestPoint));//should be cone.spread
angleBetweenSensorAndEmitter = System.Math.Atan(emittingPoint.ScalerDistanceTo(closestPoint) / sensingPoint.ScalerDistanceTo(closestPoint));
if (coneAngle < angleBetweenSensorAndEmitter)
{
continue; //should go to next cone.
}
if (emitters.ContainsKey(cone.level))
{//emitter has an emission at the same level as the cone.
//returnDAV = (DetectedAttributeValue)ObfuscateAttributeValue(emittingObjectAttribute, emitters[cone.level], ref random);
returnDAV = (DetectedAttributeValue)FuzzAttributeValue(emittingObjectAttribute, emitters[cone.level], ref random);
return returnDAV;
}
else
{ //emitter does not emit the same level as the cone.
//should this find next best, or just move on?
}
}
}
return null;
}
private void TimeTick(SimulationEvent e)
{
int oldTime = time;
DataValue dv = null;
Vec3D landIntersect;
Vec3D obstructionIntersect;
Vec3D curLocVec = new Vec3D(0, 0, 0);
Vec3D newLocVec = new Vec3D(0, 0, 0);
Vec3D destVec = new Vec3D(0, 0, 0);
Vec3D velVec = new Vec3D(0, 0, 0);
Vec3D headingVector = new Vec3D(0, 0, 0);
dv = e["Time"];
time = ((IntegerValue)dv).value;
double dTime = ((double)(time - oldTime)) / 1000;
SimulationObjectProxy obProx = null;
SimulationObjectProxy parentProx = null;
bool launchStarted, launchDone;
int launchEndTime;
bool pursueStarted;
string pursueTargetID;
string parentObjectID;
ScoringDB.ActorFrame actorFrame = new ScoringDB.ActorFrame();
foreach (string id in objectProxies.Keys)
{
obProx = objectProxies[id];
//*********************************
// Launch movement logic
//*********************************
#region Launch Logic
launchStarted = ((BooleanValue)obProx["LaunchStarted"].GetDataValue()).value;
launchDone = ((BooleanValue)obProx["LaunchDone"].GetDataValue()).value;
pursueStarted = ((BooleanValue)obProx["PursueStarted"].GetDataValue()).value;
pursueTargetID = ((StringValue)obProx["PursueTargetID"].GetDataValue()).value;
if (launchStarted == false && launchDone == true)
{
dv = obProx["LaunchDone"].GetDataValue();
((BooleanValue)dv).value = false;
obProx["LaunchDone"].SetDataValue(dv);
launchDone = false;
}
if (launchStarted == true && launchDone == false)
{
parentObjectID = ((StringValue)obProx["ParentObjectID"].GetDataValue()).value;
parentProx = objectProxies[parentObjectID];
launchEndTime = ((IntegerValue)obProx["LaunchEndTime"].GetDataValue()).value;
if (time >= launchEndTime)
{
Vec3D parentVec = new Vec3D((LocationValue)parentProx["Location"].GetDataValue());
dv = obProx["LaunchDestinationLocation"].GetDataValue();
Vec3D launchDestVec = new Vec3D((LocationValue)dv);
bool sendMoveRequest = ((LocationValue)dv).exists;
obProx["Location"].SetDataValue(parentVec.ToLocationValue());
//Now that location has been updated, set in helper library:
ObjectDistances.UpdateObjectLocation(id, parentVec);
dv = obProx["LaunchDone"].GetDataValue();
((BooleanValue)dv).value = true;
obProx["LaunchDone"].SetDataValue(dv);
if (sendMoveRequest)
{
string userID = ((StringValue)obProx["OwnerID"].GetDataValue()).value;
distClient.PutEvent(SimUtility.BuildMoveObjectRequestEvent(ref simModel, time, userID, id, launchDestVec, 1.0));
}
if (((BooleanValue)obProx["LaunchIsWeapon"].GetDataValue()).value == true)
{
dv = obProx["PursueStarted"].GetDataValue();
((BooleanValue)dv).value = true;
obProx["PursueStarted"].SetDataValue(dv);
pursueStarted = true;
dv = obProx["LaunchWeaponTargetID"].GetDataValue();
pursueTargetID = ((StringValue)dv).value;
dv = obProx["PursueTargetID"].GetDataValue();
((StringValue)dv).value = pursueTargetID;
obProx["PursueTargetID"].SetDataValue(dv);
distClient.PutEvent(SimUtility.BuildSystemMessageEvent(ref simModel,
time,
((StringValue)(obProx["OwnerID"].GetDataValue())).value,
id + " has been launched from " + parentObjectID + " at " + pursueTargetID));
distClient.PutEvent(SimUtility.BuildHistory_SubplatformLaunchEvent(ref simModel,
time,
id,
parentObjectID,
parentVec,
launchDestVec,
true,
pursueTargetID));
}
else
{
distClient.PutEvent(SimUtility.BuildSystemMessageEvent(ref simModel,
time,
((StringValue)(obProx["OwnerID"].GetDataValue())).value,
id + " has been undocked from " + parentObjectID));
distClient.PutEvent(SimUtility.BuildHistory_SubplatformLaunchEvent(ref simModel,
time,
id,
parentObjectID,
parentVec,
launchDestVec,
false,
""));
}
}
}
#endregion
#region Pursue Logic
/*if (pursueStarted)
{
if (objectProxies.ContainsKey(pursueTargetID))
{
dv = objectProxies[pursueTargetID]["Location"].GetDataValue();
String targetState = ((StringValue)objectProxies[pursueTargetID]["State"].GetDataValue()).value;
if (!((LocationValue)dv).exists || targetState == "Dead")
{
//if my target is dead or not existant, kill this weapon too.
obProx["PursueStarted"].SetDataValue(DataValueFactory.BuildBoolean(false));
obProx["PursueTargetID"].SetDataValue(DataValueFactory.BuildString(String.Empty));
distClient.PutEvent(SimUtility.BuildStateChangeEvent(ref simModel, time, id, "Dead"));
continue;
}
destVec.Set((LocationValue)dv);
obProx["DestinationLocation"].SetDataValue(destVec.ToLocationValue());
dv = obProx["Throttle"].GetDataValue();
((DoubleValue)dv).value = 1;
obProx["Throttle"].SetDataValue(dv);
distClient.PutEvent(SimUtility.BuildHistory_PursueEvent(ref simModel,
time,
id,
curLocVec,
pursueTargetID,
destVec));
}
}*/
#endregion
//*********************************
// MoveObject logic
//*********************************
//
/*
// Ignore objects that don't have a location
//
dv = obProx["Location"].GetDataValue();
if (!((LocationValue)dv).exists)
{
continue;
}
curLocVec.Set((LocationValue)dv);
//dv = obProx["Velocity"].GetDataValue();
//velVec.Set((VelocityValue)dv);
dv = obProx["DestinationLocation"].GetDataValue();
if (!((LocationValue)dv).exists)
{
destVec.Set(curLocVec);
obProx["DestinationLocation"].SetDataValue(destVec.ToLocationValue());
}
else
{
destVec.Set((LocationValue)dv);
}
dv = obProx["Throttle"].GetDataValue();
double throttle = ((DoubleValue)dv).value;
dv = obProx["MaximumSpeed"].GetDataValue();
double maxSpeed = ((DoubleValue)dv).value;
//
// If the object's throttle or maximum speed are zero, set velocity to (0,0,0) and
// set the destination to the current location
//
if (throttle == 0 || maxSpeed == 0 || ((StringValue)obProx["State"].GetDataValue()).value == "Dead")
{
velVec.Set(0, 0, 0);
obProx["Velocity"].SetDataValue(velVec.ToVelocityValue());
destVec.Set(curLocVec);
obProx["DestinationLocation"].SetDataValue(destVec.ToLocationValue());
dv = obProx["Throttle"].GetDataValue();
((DoubleValue)dv).value = 0;
obProx["Throttle"].SetDataValue(dv);
}
*/
//
// Update what active regions the object is in.
//
StateDB.physicalObjects[id].activeRegions = GetActiveRegions(curLocVec);
dv = obProx["InActiveRegions"].GetDataValue();
((StringListValue)dv).strings = StateDB.physicalObjects[id].activeRegions;
obProx["InActiveRegions"].SetDataValue(dv);
double speedMultiplier = GetActiveRegionSpeedMultiplier(StateDB.physicalObjects[id].activeRegions);
dv = obProx["ActiveRegionSpeedMultiplier"].GetDataValue();
if (((DoubleValue)dv).value != speedMultiplier)
{
((DoubleValue)dv).value = speedMultiplier;
obProx["ActiveRegionSpeedMultiplier"].SetDataValue(dv);
//distClient.PutEvent(SimUtility.BuildActiveRegionSpeedMultiplierUpdateEvent(ref simModel, time, id));
distributor.viewProBackChannelEvents.Add(SimUtility.BuildActiveRegionSpeedMultiplierUpdateEvent(ref simModel, time, id));
}
if (time % 1000 == 0)
{
actorFrame.objectID = id;
actorFrame.speciesName = StateDB.physicalObjects[id].speciesName;
actorFrame.ownerID = StateDB.physicalObjects[id].ownerID;
actorFrame.activeRegions = StateDB.physicalObjects[id].activeRegions;
ScoringDB.UpdateScore_ObjectExists(actorFrame);
}
//
// Update the object's velocity based on its destinations, throttle, and maximum speed.
//
/*
if (curLocVec.ScalerDistanceTo(destVec) > 0.01)
{
double degCurHeading = 0.0;
double degDestHeading = 0.0;
// headingVector = new Vec3D(((VelocityValue)obProx["Heading"].GetDataValue()));
degCurHeading = ((DoubleValue)obProx["Heading"].GetDataValue()).value;//180 / Math.PI * Math.Atan2(headingVector.X, headingVector.Y);
double tx = Math.Sin(degCurHeading / 180 * Math.PI);// /180*Math.PI;
double ty = Math.Cos(degCurHeading / 180 * Math.PI);///180*Math.PI;
headingVector = new Vec3D(tx, ty, 0);
//TODO: Adjust velocity vector based on heading
if (curLocVec.ScalerDistanceTo(destVec) >= (maxSpeed * throttle * dTime * speedMultiplier))
{
velVec = headingVector;
velVec = velVec.Multiply(maxSpeed * throttle * speedMultiplier);
//
// Update the object's location based on its velocity
//
newLocVec.X = curLocVec.X + (velVec.X * dTime);
newLocVec.Y = curLocVec.Y + (velVec.Y * dTime);
newLocVec.Z = curLocVec.Z + (velVec.Z * dTime);
}
else
{
velVec = destVec.Subtract(curLocVec);
//
// Update the object's location based on its velocity
//
newLocVec.X = curLocVec.X + (velVec.X);
newLocVec.Y = curLocVec.Y + (velVec.Y);
newLocVec.Z = curLocVec.Z + (velVec.Z);
}
//TODO: adjust position based on velocity vector
obProx["Velocity"].SetDataValue(velVec.ToVelocityValue());
//
// Update the object's location based on its velocity
// -- AD: Moved up, as dTime was exponentially reducing object speed rather than stopping quickly.
//newLocVec.X = curLocVec.X + (velVec.X * dTime);
//newLocVec.Y = curLocVec.Y + (velVec.Y * dTime);
//newLocVec.Z = curLocVec.Z + (velVec.Z * dTime);
//TODO: Adjust heading if needed
if (curLocVec.ScalerDistanceTo(destVec) >= (maxSpeed * throttle * dTime * speedMultiplier))
{
headingVector = curLocVec.VectorDistanceTo(destVec);
headingVector.Normalize();
//velVec = velVec.Multiply(maxSpeed * throttle * speedMultiplier);
}
else
{
headingVector = destVec.Subtract(curLocVec);
headingVector.Normalize();
}
degDestHeading = 180 / Math.PI * Math.Atan2(headingVector.X, headingVector.Y);
double newDiff = 0.0;
if (degDestHeading > degCurHeading)
{
newDiff = degDestHeading - degCurHeading;
}
else
{
newDiff = degCurHeading - degDestHeading;
}
if (degDestHeading < 0)
degDestHeading = 360 + degDestHeading;
if (degCurHeading < 0)
degCurHeading = 360 + degCurHeading;
if (degDestHeading != degCurHeading)
{
double deltaDegrees = _maxTurnAngle;
double diff = Math.Abs(degDestHeading - degCurHeading);
deltaDegrees = Math.Min(deltaDegrees, diff);
if ((degDestHeading > degCurHeading && diff < 180) || (degDestHeading < degCurHeading && diff > 180))
{
//add to heading
degCurHeading += deltaDegrees;
}
else
{
//subtract from heading
degCurHeading -= deltaDegrees;
}
degCurHeading = degCurHeading % 360;
Vec3D newHeadingVector = new Vec3D(Math.Sin(degCurHeading / 180 * Math.PI), Math.Cos(degCurHeading / 180 * Math.PI), 0);
headingVector = newHeadingVector;
}
else
{
}
//obProx["Heading"].SetDataValue(headingVector.ToVelocityValue());
obProx["Heading"].SetDataValue(DataValueFactory.BuildDouble(degCurHeading));
Console.WriteLine(String.Format("Tick; New Location:({0},{1}); New Heading Vector:({2},{3}); Heading:{4}", newLocVec.X, newLocVec.Y, headingVector.X, headingVector.Y, degCurHeading));
//Console.WriteLine("New Location: {"+newLocVec.X+","+newLocVec.Y+"}");
//Console.WriteLine("New Velocity Vector: {" + velVec.X + "," + velVec.Y + "}");
// TODO: Do obstruction check here
bool stopMotion = false;
switch (obProx.GetObjectType())
{
case "SeaObject":
if (!IsOnSea(newLocVec))
{
stopMotion = true;
distClient.PutEvent(SimUtility.BuildSystemMessageEvent(ref simModel,
time,
((StringValue)(obProx["OwnerID"].GetDataValue())).value,
id + " has been blocked by land"));
}
break;
case "LandObject":
if (!IsOnLand(newLocVec))
{
stopMotion = true;
distClient.PutEvent(SimUtility.BuildSystemMessageEvent(ref simModel,
time,
((StringValue)(obProx["OwnerID"].GetDataValue())).value,
id + " has been blocked by sea"));
}
break;
default:
break;
}
if (IsObstructed(curLocVec, newLocVec, id))
{
stopMotion = true;
}
if (!stopMotion)
{
curLocVec.Set(newLocVec);
obProx["Location"].SetDataValue(curLocVec.ToLocationValue());
//Now that location has been updated, set in helper library:
ObjectDistances.UpdateObjectLocation(id, curLocVec);
}
else
{
obProx["Location"].SetDataValue(curLocVec.ToLocationValue());
//Now that location has been updated, set in helper library:
ObjectDistances.UpdateObjectLocation(id, curLocVec);
destVec.Set(curLocVec);
obProx["DestinationLocation"].SetDataValue(destVec.ToLocationValue());
distClient.PutEvent(SimUtility.BuildMoveDoneEvent(ref simModel, time, id, "Obstruction"));
distributor.viewProBackChannelEvents.Add(SimUtility.BuildMoveDoneEvent(ref simModel, time, id, "Obstruction"));
dv = obProx["Throttle"].GetDataValue();
((DoubleValue)dv).value = 0;
obProx["Throttle"].SetDataValue(dv);
distClient.PutEvent(SimUtility.BuildSystemMessageEvent(ref simModel,
time,
((StringValue)(obProx["OwnerID"].GetDataValue())).value,
id + " was stopped by an obstruction"));
}
}
else // if the object has reached its destination and is not pursuing, send MoveDone
{
velVec.Set(0, 0, 0);
newLocVec.Set(destVec);
obProx["Location"].SetDataValue(newLocVec.ToLocationValue());
//Now that location has been updated, set in helper library:
ObjectDistances.UpdateObjectLocation(id, newLocVec);
obProx["Velocity"].SetDataValue(velVec.ToVelocityValue());
if (!pursueStarted && throttle > 0)
{
// TODO: Make sure MoveDone is being sent correctly.
distClient.PutEvent(SimUtility.BuildMoveDoneEvent(ref simModel, time, id, "ReachedDestination"));
distributor.viewProBackChannelEvents.Add(SimUtility.BuildMoveDoneEvent(ref simModel, time, id, "ReachedDestination"));
dv = obProx["Throttle"].GetDataValue();
((DoubleValue)dv).value = 0;
obProx["Throttle"].SetDataValue(dv);
distClient.PutEvent(SimUtility.BuildSystemMessageEvent(ref simModel,
time,
((StringValue)(obProx["OwnerID"].GetDataValue())).value,
id + " has reached its destination"));
}
}*/
}
}
static public SimulationEvent BuildHistory_PursueEvent(ref SimulationModelInfo simModel, int time, string objectID, Vec3D objectLocation, string targetObjectID, Vec3D targetLocation)
{
SimulationEvent sc = SimulationEventFactory.BuildEvent(ref simModel, "History_Pursue");
((IntegerValue)sc["Time"]).value = time;
((StringValue)sc["ObjectID"]).value = objectID;
sc["ObjectLocation"] = (DataValue)objectLocation.ToLocationValue();
((StringValue)sc["TargetObjectID"]).value = targetObjectID;
sc["TargetObjectLocation"] = (DataValue)targetLocation.ToLocationValue();
return sc;
}