public void selectRandomDirection(AbstractEnvironmentType env, Libutility util, Vector3d preDir)
{
if (env.env_type == 1)
{
double randx = (util.getRandDouble() - 0.5) * 2;
double randy = (util.getRandDouble() - 0.5) * 2;
double randz = (util.getRandDouble() - 0.5) * 2;
Vector3d randDir = new Vector3d(randx, randy, randz);
randDir = Vector3d.Add(randDir, preDir);
Double leng = randDir.Length;
Double factor = _cur_speed / leng;
orientation = Vector3d.Multiply(factor, randDir);
return;
}
else if (env.env_type == 2)
{
double randx = (util.getRandDouble() - 0.5) * 2;
double randy = (util.getRandDouble() - 0.5) * 2;
Vector3d randDir = new Vector3d(randx, randy, 0);
randDir = Vector3d.Add(randDir, preDir);
randDir.Unitize();
uv_orientation = Vector3d.Multiply(_cur_speed, randDir);
orientation = env.getOrientationFromUv(Location, uv_orientation);
return;
}
}
public void doSensorBehaviorsInSrfenv(AbstractEnvironmentType env, Libutility util)
{
this.doDeathTest(env);
int det_count = PhysaSetting.DetectDirPhySubd * 2 + 1;
int max_item = 0;
float max_item_phy = -PhysaSetting._sense_angle;
sensor_data = new float[det_count];
//List<trailInfo> infos = new List<trailInfo>();
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, _sensor_offset, util));
//float maxtrail = 0;
//Point3d tgtPos = new Point3d();
//sensor_data[0] = env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, PhysaSetting._sense_offset, util);
int count_cur = 0;
for (int j = -PhysaSetting.DetectDirPhySubd; j <= PhysaSetting.DetectDirPhySubd; j++)
{
sensor_data[count_cur] = env.getOffsetTrailValue(curx, cury, curz, uv_orientation, j * PhysaSetting._sensor_phy_step_angle, 0, PhysaSetting._sense_offset, util);
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, j * _sensor_phy_step_angle, i * _sensor_theta_step_angle, _sensor_offset, util));
if (sensor_data[count_cur] > sensor_data[max_item])
{
max_item = count_cur;
max_item_phy = j * PhysaSetting._sensor_phy_step_angle;
}
count_cur++;
}
//this.tempValue = env.getOffsetTrailValue(curx, cury, curz, uv_orientation, 0, 0, PhysaSetting._sense_offset, util);
//max_item_phy = 90;
rotate2D(max_item_phy * PhysaSetting._rotate_angle / PhysaSetting._sense_angle);
orientation = env.getOrientationFromUv(Location, uv_orientation);
guideOrientation();
}
public bool iniSuccess(int x, int y, int z, AbstractEnvironmentType env, Libutility util)
{
if (env.isOccupidByParticleByIndex(x, y, z) == true)
{
return(false);
}
if (env.isWithinObstacleByIndex(x, y, z) && util.getRandDouble() > PhysaSetting.escape_p)
{
return(false);
}
return(true);
}
public void doSensorBehaviorsInBoxenv(AbstractEnvironmentType env, Libutility util)
{
this.doDeathTest(env);
//orientation = env.projectOrientationToEnv(Location, orientation);
int det_count = PhysaSetting.DetectDirRSubd * PhysaSetting.DetectDirPhySubd + 1;
int max_item = 0;
float max_item_phy = 0;
float max_item_theta = 0;
sensor_data = new float[det_count];
//List<trailInfo> infos = new List<trailInfo>();
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, _sensor_offset, util));
//float maxtrail = 0;
//Point3d tgtPos = new Point3d();
sensor_data[0] = env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, PhysaSetting._sense_offset, util);
int count_cur = 1;
for (int i = 0; i < PhysaSetting.DetectDirRSubd; i++)
{
for (int j = 1; j <= PhysaSetting.DetectDirPhySubd; j++)
{
sensor_data[count_cur] = env.getOffsetTrailValue(curx, cury, curz, orientation, j * PhysaSetting._sensor_phy_step_angle, i * PhysaSetting._sensor_theta_step_angle, PhysaSetting._sense_offset, util);
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, j * _sensor_phy_step_angle, i * _sensor_theta_step_angle, _sensor_offset, util));
if (sensor_data[count_cur] > sensor_data[max_item])
{
max_item = count_cur;
max_item_phy = j * PhysaSetting._sensor_phy_step_angle;
max_item_theta = i * PhysaSetting._sensor_theta_step_angle;
}
count_cur++;
}
}
/*foreach(trailInfo inf in infos)
* {
* if(inf.trailValue > maxtrail)
* {
* maxtrail = inf.trailValue;
* tgtPos = inf.targetPos;
* }
* }
* Vector3d newOri = Point3d.Subtract(tgtPos, new Point3d(curx, cury, curz));
* double curLength = newOri.Length;
* double scaleFactor = _cur_speed / curLength;
* orientation = Vector3d.Multiply(scaleFactor, newOri);
* //orientation = newOri;
*/
rotate(max_item_phy * PhysaSetting._rotate_angle / PhysaSetting._sense_angle, max_item_theta);
guideOrientation();
}
public bool initializeAmoeba(AbstractEnvironmentType env, Libutility util)
{
do
{
tempfloatx = (float)util.getDoubleRand(env.getUMin(), env.getUMax());
tempfloaty = (float)util.getDoubleRand(env.getVMin(), env.getVMax());
tempfloatz = (float)util.getDoubleRand(env.getWMin(), env.getWMax());
Point3d indexPos = env.getIndexByPosition(tempfloatx, tempfloaty, tempfloatz);
tempx = (int)indexPos.X;
tempy = (int)indexPos.Y;
tempz = (int)indexPos.Z;
}while (!iniSuccess(tempx, tempy, tempz, env, util));
curx = tempx;
cury = tempy;
curz = tempz;
//Location = new Point3d(curx, cury, curz);
Location = env.getPositionByIndex(curx, cury, curz);
occupyCell(curx, cury, curz, env);
selectRandomDirection(env, util);
prev_loc = Location;
return(true);
}
public bool initializeAmoeba(double x, double y, double z, AbstractEnvironmentType env, Libutility util)
{
Point3d indexLoca = env.getIndexByPosition(x, y, z);
tempx = (int)indexLoca.X;
tempy = (int)indexLoca.Y;
tempz = (int)indexLoca.Z;
curx = tempx;
cury = tempy;
curz = tempz;
//Location = new Point3d(curx, cury, curz);
Location = env.getPositionByIndex(curx, cury, curz);
occupyCell(curx, cury, curz, env);
selectRandomDirection(env, util);
prev_loc = Location;
return true;
}
public bool initializeAmoeba(AbstractEnvironmentType env, Libutility util)
{
do
{
tempfloatx = (float)util.getDoubleRand(env.getUMin(), env.getUMax());
tempfloaty = (float)util.getDoubleRand(env.getVMin(), env.getVMax());
tempfloatz = (float)util.getDoubleRand(env.getWMin(), env.getWMax());
Point3d indexPos = env.getIndexByPosition(tempfloatx, tempfloaty, tempfloatz);
tempx = (int)indexPos.X;
tempy = (int)indexPos.Y;
tempz = (int)indexPos.Z;
}
while (!iniSuccess(tempx, tempy, tempz, env, util));
curx = tempx;
cury = tempy;
curz = tempz;
//Location = new Point3d(curx, cury, curz);
Location = env.getPositionByIndex(curx, cury, curz);
occupyCell(curx, cury, curz, env);
selectRandomDirection(env, util);
prev_loc = Location;
return true;
}
public bool iniSuccess(int x, int y, int z, AbstractEnvironmentType env, Libutility util)
{
if (env.isOccupidByParticleByIndex(x, y, z) == true)
return false;
if (env.isWithinObstacleByIndex(x, y, z) && util.getRandDouble() > PhysaSetting.escape_p)
return false;
return true;
}
public void doSensorBehaviorsInSrfenv(AbstractEnvironmentType env, Libutility util)
{
this.doDeathTest(env);
int det_count = PhysaSetting.DetectDirPhySubd * 2 + 1;
int max_item = 0;
float max_item_phy = -PhysaSetting._sense_angle;
sensor_data = new float[det_count];
//List<trailInfo> infos = new List<trailInfo>();
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, _sensor_offset, util));
//float maxtrail = 0;
//Point3d tgtPos = new Point3d();
//sensor_data[0] = env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, PhysaSetting._sense_offset, util);
int count_cur = 0;
for (int j = -PhysaSetting.DetectDirPhySubd; j <= PhysaSetting.DetectDirPhySubd; j++)
{
sensor_data[count_cur] = env.getOffsetTrailValue(curx, cury, curz, uv_orientation, j * PhysaSetting._sensor_phy_step_angle,0, PhysaSetting._sense_offset, util);
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, j * _sensor_phy_step_angle, i * _sensor_theta_step_angle, _sensor_offset, util));
if (sensor_data[count_cur] > sensor_data[max_item])
{
max_item = count_cur;
max_item_phy = j * PhysaSetting._sensor_phy_step_angle;
}
count_cur++;
}
//this.tempValue = env.getOffsetTrailValue(curx, cury, curz, uv_orientation, 0, 0, PhysaSetting._sense_offset, util);
//max_item_phy = 90;
rotate2D(max_item_phy * PhysaSetting._rotate_angle / PhysaSetting._sense_angle);
orientation = env.getOrientationFromUv(Location, uv_orientation);
guideOrientation();
}
public void doSensorBehaviorsInBoxenv(AbstractEnvironmentType env, Libutility util)
{
this.doDeathTest(env);
//orientation = env.projectOrientationToEnv(Location, orientation);
int det_count = PhysaSetting.DetectDirRSubd * PhysaSetting.DetectDirPhySubd + 1;
int max_item = 0;
float max_item_phy = 0;
float max_item_theta = 0;
sensor_data = new float[det_count];
//List<trailInfo> infos = new List<trailInfo>();
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, _sensor_offset, util));
//float maxtrail = 0;
//Point3d tgtPos = new Point3d();
sensor_data[0] = env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, PhysaSetting._sense_offset, util);
int count_cur = 1;
for (int i = 0; i < PhysaSetting.DetectDirRSubd; i++)
{
for (int j = 1; j <= PhysaSetting.DetectDirPhySubd; j++)
{
sensor_data[count_cur] = env.getOffsetTrailValue(curx, cury, curz, orientation, j * PhysaSetting._sensor_phy_step_angle, i * PhysaSetting._sensor_theta_step_angle, PhysaSetting._sense_offset, util);
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, j * _sensor_phy_step_angle, i * _sensor_theta_step_angle, _sensor_offset, util));
if (sensor_data[count_cur] > sensor_data[max_item])
{
max_item = count_cur;
max_item_phy = j * PhysaSetting._sensor_phy_step_angle;
max_item_theta = i * PhysaSetting._sensor_theta_step_angle;
}
count_cur++;
}
}
/*foreach(trailInfo inf in infos)
{
if(inf.trailValue > maxtrail)
{
maxtrail = inf.trailValue;
tgtPos = inf.targetPos;
}
}
Vector3d newOri = Point3d.Subtract(tgtPos, new Point3d(curx, cury, curz));
double curLength = newOri.Length;
double scaleFactor = _cur_speed / curLength;
orientation = Vector3d.Multiply(scaleFactor, newOri);
//orientation = newOri;
*/
rotate(max_item_phy * PhysaSetting._rotate_angle / PhysaSetting._sense_angle, max_item_theta);
guideOrientation();
}
public void doMotorBehaviors(AbstractEnvironmentType env, Libutility util)
{
_distance_traveled++;
prev_loc = Location;
//_cur_speed = _max_speed * (1 - _distance_traveled / _deathDistance);
_cur_speed = PhysaSetting._speed;
if (env.getGriddataByIndex(curx, cury, curz) == 1)
_distance_traveled = 0;
_moved_successfully = false;
if (util.getRandDouble() < PhysaSetting._pcd)
{
selectRandomDirection(env, util);
resetFloatingPointPosition(env);
return;
}
Point3d curLoc = Location;
curLoc.Transform(Transform.Translation(orientation));
//Location = curLoc;
tempfloatx = (float)curLoc.X;
tempfloaty = (float)curLoc.Y;
tempfloatz = (float)curLoc.Z;
switch (PhysaSetting.border_type)
{
case 0:
if(env.constrainPos(ref tempfloatx, ref tempfloaty, ref tempfloatz,0))
selectRandomDirection(env, util);
break;
case 1:
env.constrainPos(ref tempfloatx, ref tempfloaty, ref tempfloatz, 1);
break;
case 2:
env.constrainPos(ref tempfloatx, ref tempfloaty, ref tempfloatz, 0);
orientation = env.bounceOrientation(curLoc, orientation);
break;
default:
break;
}
//if(env.constrainPos(ref tempfloatx, ref tempfloaty, ref tempfloatz))
// selectRandomDirection(util);
Point3d temppos = env.getIndexByPosition(tempfloatx, tempfloaty, tempfloatz);
tempx = (int)temppos.X;
tempy = (int)temppos.Y;
tempz = (int)temppos.Z;
if (env.isOccupidByParticleByIndex(tempx, tempy, tempz))
{
selectRandomDirection(env,util);
return;
}
else if (env.isWithinObstacleByIndex(tempx, tempy, tempz) && util.getRandDouble() > PhysaSetting.escape_p)
{
selectRandomDirection(env,util);
return;
}
else
{
_moved_successfully = true;
Location = env.projectLocationToEnv(new Point3d(tempfloatx, tempfloaty, tempfloatz));
env.clearGridCellByIndex(curx, cury, curz);
//env.agedata[curx, cury, curz]++;
env.occupyGridCellByIndex(tempx, tempy, tempz, ID);
curx = tempx;
cury = tempy;
curz = tempz;
//float trailIncrement = calculateTrailIncrement(util);
//env.increaseTrailByIndex(curx, cury, curz, trailIncrement);
env.increaseTrailByIndex(curx, cury, curz, _ca_torealease);
//if (_moved_successfully && !_die && _distance_traveled % division_frequency_test == 0)
if (_moved_successfully && !_die)
doDivisionTest(env);
}
}
public bool initializeAmoeba(double x, double y, double z, AbstractEnvironmentType env, Libutility util)
{
Point3d indexLoca = env.getIndexByPosition(x, y, z);
tempx = (int)indexLoca.X;
tempy = (int)indexLoca.Y;
tempz = (int)indexLoca.Z;
curx = tempx;
cury = tempy;
curz = tempz;
//Location = new Point3d(curx, cury, curz);
Location = env.getPositionByIndex(curx, cury, curz);
occupyCell(curx, cury, curz, env);
selectRandomDirection(env, util);
prev_loc = Location;
return(true);
}
public float calculateTrailIncrement(Libutility util)
{
return(util.getIncrement(_distance_traveled, PhysaSetting._death_distance));
}
public void doMotorBehaviors(AbstractEnvironmentType env, Libutility util)
{
_distance_traveled++;
prev_loc = Location;
//_cur_speed = _max_speed * (1 - _distance_traveled / _deathDistance);
_cur_speed = PhysaSetting._speed;
if (env.getGriddataByIndex(curx, cury, curz) == 1)
{
_distance_traveled = 0;
}
_moved_successfully = false;
if (util.getRandDouble() < PhysaSetting._pcd)
{
selectRandomDirection(env, util);
resetFloatingPointPosition(env);
return;
}
Point3d curLoc = Location;
curLoc.Transform(Transform.Translation(orientation));
//Location = curLoc;
tempfloatx = (float)curLoc.X;
tempfloaty = (float)curLoc.Y;
tempfloatz = (float)curLoc.Z;
switch (PhysaSetting.border_type)
{
case 0:
if (env.constrainPos(ref tempfloatx, ref tempfloaty, ref tempfloatz, 0))
{
selectRandomDirection(env, util);
}
break;
case 1:
env.constrainPos(ref tempfloatx, ref tempfloaty, ref tempfloatz, 1);
break;
case 2:
env.constrainPos(ref tempfloatx, ref tempfloaty, ref tempfloatz, 0);
orientation = env.bounceOrientation(curLoc, orientation);
break;
default:
break;
}
//if(env.constrainPos(ref tempfloatx, ref tempfloaty, ref tempfloatz))
// selectRandomDirection(util);
Point3d temppos = env.getIndexByPosition(tempfloatx, tempfloaty, tempfloatz);
tempx = (int)temppos.X;
tempy = (int)temppos.Y;
tempz = (int)temppos.Z;
if (env.isOccupidByParticleByIndex(tempx, tempy, tempz))
{
selectRandomDirection(env, util);
return;
}
else if (env.isWithinObstacleByIndex(tempx, tempy, tempz) && util.getRandDouble() > PhysaSetting.escape_p)
{
selectRandomDirection(env, util);
return;
}
else
{
_moved_successfully = true;
Location = env.projectLocationToEnv(new Point3d(tempfloatx, tempfloaty, tempfloatz));
env.clearGridCellByIndex(curx, cury, curz);
//env.agedata[curx, cury, curz]++;
env.occupyGridCellByIndex(tempx, tempy, tempz, ID);
curx = tempx;
cury = tempy;
curz = tempz;
//float trailIncrement = calculateTrailIncrement(util);
//env.increaseTrailByIndex(curx, cury, curz, trailIncrement);
env.increaseTrailByIndex(curx, cury, curz, _ca_torealease);
//if (_moved_successfully && !_die && _distance_traveled % division_frequency_test == 0)
if (_moved_successfully && !_die)
{
doDivisionTest(env);
}
}
}
public bool initializeAmoeba(double x, double y, double z, int radius, AbstractEnvironmentType env, Libutility util)
{
int try_count = 0;
Point3d IniIndexLoca = env.getIndexByPosition(x, y, z);
int start_x = (int)IniIndexLoca.X - radius > 0 ? (int)IniIndexLoca.X - radius : 0;
int start_y = (int)IniIndexLoca.Y - radius > 0 ? (int)IniIndexLoca.Y - radius : 0;
int start_z = (int)IniIndexLoca.Z - radius > 0 ? (int)IniIndexLoca.Z - radius : 0;
int end_x = (int)IniIndexLoca.X + radius < env.u ? (int)IniIndexLoca.X + radius : env.u - 1;
int end_y = (int)IniIndexLoca.Y + radius < env.v ? (int)IniIndexLoca.Y + radius : env.v - 1;
int end_z = (int)IniIndexLoca.Z + radius < env.w ? (int)IniIndexLoca.Z + radius : env.w - 1;
do
{
tempx = util.getRand(start_x, end_x + 1);
tempy = util.getRand(start_y, end_y + 1);
tempz = util.getRand(start_z, end_z + 1);
try_count++;
}
while (!iniSuccess(tempx, tempy, tempz, env, util) && try_count<10);
curx = tempx;
cury = tempy;
curz = tempz;
//Location = new Point3d(curx, cury, curz);
Location = env.getPositionByIndex(curx, cury, curz);
occupyCell(curx, cury, curz, env);
selectRandomDirection(env, util);
prev_loc = new Point3d(x, y, z);
return true;
}
public float calculateTrailIncrement(Libutility util)
{
return util.getIncrement(_distance_traveled, PhysaSetting._death_distance);
}
public void selectRandomDirection(AbstractEnvironmentType env, Libutility util, Vector3d preDir)
{
if (env.env_type == 1)
{
double randx = (util.getRandDouble() - 0.5) * 2;
double randy = (util.getRandDouble() - 0.5) * 2;
double randz = (util.getRandDouble() - 0.5) * 2;
Vector3d randDir = new Vector3d(randx, randy, randz);
randDir = Vector3d.Add(randDir, preDir);
Double leng = randDir.Length;
Double factor = _cur_speed / leng;
orientation = Vector3d.Multiply(factor, randDir);
return;
}
else if (env.env_type == 2)
{
double randx = (util.getRandDouble() - 0.5) * 2;
double randy = (util.getRandDouble() - 0.5) * 2;
Vector3d randDir = new Vector3d(randx, randy, 0);
randDir = Vector3d.Add(randDir, preDir);
randDir.Unitize();
uv_orientation = Vector3d.Multiply(_cur_speed, randDir);
orientation = env.getOrientationFromUv(Location, uv_orientation);
return;
}
}
public bool initializeAmoeba(double x, double y, double z, int radius, AbstractEnvironmentType env, Libutility util)
{
int try_count = 0;
Point3d IniIndexLoca = env.getIndexByPosition(x, y, z);
int start_x = (int)IniIndexLoca.X - radius > 0 ? (int)IniIndexLoca.X - radius : 0;
int start_y = (int)IniIndexLoca.Y - radius > 0 ? (int)IniIndexLoca.Y - radius : 0;
int start_z = (int)IniIndexLoca.Z - radius > 0 ? (int)IniIndexLoca.Z - radius : 0;
int end_x = (int)IniIndexLoca.X + radius < env.u ? (int)IniIndexLoca.X + radius : env.u - 1;
int end_y = (int)IniIndexLoca.Y + radius < env.v ? (int)IniIndexLoca.Y + radius : env.v - 1;
int end_z = (int)IniIndexLoca.Z + radius < env.w ? (int)IniIndexLoca.Z + radius : env.w - 1;
do
{
tempx = util.getRand(start_x, end_x + 1);
tempy = util.getRand(start_y, end_y + 1);
tempz = util.getRand(start_z, end_z + 1);
try_count++;
}while (!iniSuccess(tempx, tempy, tempz, env, util) && try_count < 10);
curx = tempx;
cury = tempy;
curz = tempz;
//Location = new Point3d(curx, cury, curz);
Location = env.getPositionByIndex(curx, cury, curz);
occupyCell(curx, cury, curz, env);
selectRandomDirection(env, util);
prev_loc = new Point3d(x, y, z);
return(true);
}
