private void SetMask()
{
//進んだらエリア外に出る選択肢にマスクをする。
var nextRhigt = Vec3ToPt3d(transform.position + new Vector3(gridSize, 0, 0f));
var nextLeft = Vec3ToPt3d(transform.position + new Vector3(-gridSize, 0, 0f));
var nextUp = Vec3ToPt3d(transform.position + new Vector3(0f, gridSize, 0));
var nextDown = Vec3ToPt3d(transform.position + new Vector3(0f, -gridSize, 0));
if (!RhinoWrapper.IsInside(nextRhigt, offsetShape))
{
SetActionMask(k_Right);
}
if (!RhinoWrapper.IsInside(nextLeft, offsetShape))
{
SetActionMask(k_Left);
}
if (!RhinoWrapper.IsInside(nextUp, offsetShape))
{
SetActionMask(k_Up);
}
if (!RhinoWrapper.IsInside(nextDown, offsetShape))
{
SetActionMask(k_Down);
}
}
// Start is called before the first frame update
void Start()
{
var plane = new Rhino.Geometry.Plane(Point3d.Origin, Vector3d.ZAxis);
var interval = new Interval(-0.5, 0.5);
rect = new Rectangle3d(plane, interval, interval);
var intervalR = new Interval(-5, 5);
region = new Rectangle3d(plane, intervalR, intervalR);
pts = RhinoWrapper.RandomPt(rect, numSphere);
_relax = gameObject.AddComponent <Relax>();
spheres = new List <GameObject>();
var col = new Color(0.5f, 0, 0, 0.01f);
for (int i = 0; i < pts.Count; i++)
{
var sphere = GameObject.CreatePrimitive(PrimitiveType.Quad);
sphere.GetComponent <MeshRenderer>().material.color = Random.ColorHSV(1f, 1f, 1f, 1f, 0, 0);
spheres.Add(sphere);
}
RhinoPreview.PolyLineShow(region.ToPolyline(), col, 0.3f);
}
public override float[] Heuristic()
{
var nextRhigt = Vec3ToPt3d(transform.position + new Vector3(gridSize, 0, 0f));
var nextLeft = Vec3ToPt3d(transform.position + new Vector3(-gridSize, 0, 0f));
var nextUp = Vec3ToPt3d(transform.position + new Vector3(0f, gridSize, 0));
var nextDown = Vec3ToPt3d(transform.position + new Vector3(0f, -gridSize, 0));
selectable.Clear();
selectable.Add(k_NoAction);
if (RhinoWrapper.IsInside(nextRhigt, offsetShape))
{
selectable.Add(k_Right);
}
if (RhinoWrapper.IsInside(nextLeft, offsetShape))
{
selectable.Add(k_Left);
}
if (RhinoWrapper.IsInside(nextUp, offsetShape))
{
selectable.Add(k_Up);
}
if (RhinoWrapper.IsInside(nextDown, offsetShape))
{
selectable.Add(k_Down);
}
if (selectable.Count > 1)
{
var idx = Random.Range(1, selectable.Count);
rtnArr[0] = selectable[idx - 1];
}
else
{
rtnArr[0] = selectable[0];
}
return(rtnArr);
}
// Update is called once per frame
void Update()
{
count++;
if (count > 7)
{
pts.RemoveAt(0);
pts.Add(RhinoWrapper.RandomPt(rect, 1)[0]);
count = 0;
}
_relax.Compute(ref pts, 2, region.ToPolyline(), 0.05);
var pos = pts.ToHost();
for (int i = 0; i < pos.Count; i++)
{
spheres[i].transform.position = pos[i];
}
}
public void Compute(List <Point3d> AreaCenters, List <Point3d> gridPts, int gridSize, ref List <List <Point3d> > rectPts, ref List <Point3d> othersPts)
{
/*
* if (rectPts.Count == 0)
* {
* rectPts = new List<List<Point3d>>();
* }
* for (int i = 0; i < AreaCenters.Count; i++)
* {
* rectPts.Add(new List<Point3d>());
* }
*/
var dists = RhinoWrapper.DistNearPt(AreaCenters);
var intervals = MakeInterval(dists, gridSize);
rects.Clear();
for (int i = 0; i < AreaCenters.Count; i++)
{
var plane = new Rhino.Geometry.Plane(AreaCenters[i], Vector3d.ZAxis);
rects.Add(new Rectangle3d(plane, intervals[i], intervals[i]));
}
rectPts = SelRectPts(gridPts, rects);
otherPtsBuff.Clear();
var allRectPts = GetAllData(rectPts);
foreach (var pt in gridPts)
{
if (allRectPts.Contains(pt) == false)
{
otherPtsBuff.Add(pt);
}
}
othersPts = otherPtsBuff;
}
public void Compute(ref List <Point3d> centers, double minDist, Polyline region, double moveStep)
{
segments.Clear();
for (int i = 0; i < region.SegmentCount; i++)
{
segments.Add(region.SegmentAt(i));
}
for (int k = 0; k < 1000; k++)
{
vectors.Clear();
counts.Clear();
for (int i = 0; i < centers.Count; i++)
{
vectors.Add(Vector3d.Zero);
counts.Add(0.0);
for (int j = 0; j < centers.Count; j++)
{
if (i == j)
{
continue;
}
Vector3d vec = centers[i] - centers[j];
double dist = vec.Length;
if (dist > minDist)
{
continue;
}
vec.Unitize();
vectors[i] += vec;
counts[i] += 1.0;
}
}
//to in wall
for (int i = 0; i < centers.Count; i++)
{
if (counts[i] != 0)
{
centers[i] += (vectors[i] / counts[i]) * moveStep;
}
if (RhinoWrapper.IsInside(centers[i], region))
{
continue;
}
counts[i]++;
var nearWall = region.ClosestPoint(centers[i]);
// var vector = nearWall - centers[i];
centers[i] = nearWall;
/*
* vector.Unitize();
* centers[i] += vector * minDist;
*/
}
}
}
public void ReComputeShape()
{
//Shape
Rhino.Geometry.Point3d origin = originVec.ToRhino();
_shapedGrid.Compute(gridSize, x_Ex, y_Ex, offsetValue, offsetValue2, maxReduceNum, minGridNum, origin, ref shapedGrid, ref shape, ref offsetShape, ref originalShape);
if (Rhino.Geometry.AreaMassProperties.Compute(offsetShape.ToPolylineCurve()).Area <
(Rhino.Geometry.AreaMassProperties.Compute(shape).Area / 2f))
{
ReComputeShape();
Debug.Log("Failed RecomputeShape and start RecomputeShape again");
return;
}
_areaRatio.Compute(shape, minAreaRatio, roomNum, ref areaSize, ref areaRatio);
targetAreaSize = areaSize.ToIntList();
if (debug)
{
debugPreview.Add(RhinoPreview.PtsShow(shapedGrid, gridSize, Color.white));
}
if (show)
{
if (polyLines.Count != 0)
{
foreach (var line in polyLines)
{
Destroy(line);
}
}
polyLines.Add(RhinoPreview.PolyLineShow(shape.ToPolyline(), Color.cyan, 0.3f, "shape"));
polyLines.Add(RhinoPreview.PolyLineShow(offsetShape, Color.blue, 0.3f, "offsetShape"));
polyLines.Add(RhinoPreview.PolyLineShow(originalShape.ToPolyline(), Color.gray, 0.3f, "originalShape"));
}
// make first agent position
var center = Rhino.Geometry.AreaMassProperties.Compute(shape).Centroid;
rectMin = RhinoWrapper.MakeRect(center, gridSize, gridSize);
var areaCenters = RhinoWrapper.RandomPt(rectMin, roomNum);
if (debug)
{
debugPreview.Add(RhinoPreview.PolyLineShow(rectMin.ToPolyline(), Color.green, 0.3f, "minRect"));
debugPreview.Add(RhinoPreview.PtsShow(areaCenters, gridSize, Color.black));
var centersList = new List <Rhino.Geometry.Point3d>();
centersList.Add(center);
debugPreview.Add(RhinoPreview.PtsShow(centersList, gridSize, Color.magenta));
}
//relax agent position
minDist = (int)Math.Ceiling(Math.Sqrt(2) * gridSize) * (minGridNum + 1);
_relax.Compute(ref areaCenters, minDist, offsetShape, (double)gridSize / 2.0);
if (debug)
{
debugPreview.Add(RhinoPreview.PtsShow(areaCenters, gridSize, Color.red));
}
agentPosition = areaCenters.ToHost();
}
public void Compute(int gridSize, int x_Ex, int y_Ex, int offsetValue, int offsetValue2, int reduceNum, int minRoomNum, Point3d center
, ref List <Rhino.Geometry.Point3d> shapedGrid, ref PolylineCurve shapeCrv, ref Polyline offsetShapeCrv, ref Rectangle3d originalShape)
{
var grid = RhinoWrapper.MakeGrid(x_Ex, y_Ex, gridSize);
var rectMain = RhinoWrapper.MakeRect(center, x_Ex, y_Ex, gridSize);
var rectMainCrv = rectMain.ToPolyline().ToPolylineCurve();
originalShape = rectMain;
//減らす部分の四角形をつくるための元のcorner
var corners = new Rhino.Geometry.Point3d[4];
for (int i = 0; i < 4; i++)
{
corners[i] = rectMain.Corner(i);
}
//引くための四角形を作る範囲
var rectSub = RhinoWrapper.MakeRect(center, x_Ex, y_Ex, gridSize, offsetValue);
var rectSub2 = RhinoWrapper.MakeRect(center, x_Ex, y_Ex, gridSize, offsetValue2);
var populate = RhinoWrapper.RandomPt(rectSub, reduceNum);
var randPts = populate.Where(pt => RhinoWrapper.IsInside(pt, rectSub2.ToPolyline()) == false).ToList();
//点が近いところにあるとオフセットがうまく機能しない。
for (int i = 0; i < randPts.Count; i++)
{
for (int j = 0; j < randPts.Count; j++)
{
if (i == j)
{
continue;
}
if (randPts[i].DistanceTo(randPts[j]) < gridSize * (minRoomNum + 1))
{
randPts.RemoveAt(j);
j--;
}
}
}
//Reduce Rectsを作ってる
var reduceRects = new List <Rhino.Geometry.PolylineCurve>();
var planeXY = new Rhino.Geometry.Plane(Point3d.Origin, Vector3d.ZAxis);
for (int i = 0; i < randPts.Count; i++)
{
var pc = new Rhino.Geometry.PointCloud(corners);
int closestIdx = pc.ClosestPoint(randPts[i]);
var reduceRect = new Rectangle3d(planeXY, randPts[i], corners[closestIdx]);
var polyCrv = reduceRect.ToPolyline().ToPolylineCurve();
reduceRects.Add(polyCrv);
}
var shape = Curve.CreateBooleanDifference(rectMainCrv, reduceRects, 0.1);
offsetShapeCrv = null;
//正四角形でない形がでたとき
if (shape.Length > 0)
{
shape[0].TryGetPolyline(out Polyline polyShape);
//ref
shapedGrid = grid.Where(pt => RhinoWrapper.IsInside(pt, polyShape)).ToList();
//ref
shapeCrv = polyShape.ToPolylineCurve();
//ref
var plane = new Rhino.Geometry.Plane(AreaMassProperties.Compute(shapeCrv).Centroid, Vector3d.ZAxis);
shapeCrv.Offset(plane, (-gridSize * minRoomNum), 1, CurveOffsetCornerStyle.Sharp)[0].TryGetPolyline(out offsetShapeCrv);
if (offsetShapeCrv == null)
{
offsetShapeCrv = new Rectangle3d(plane, 1, 1).ToPolyline();
}
}
else//正四角形が残ったとき。（ひくためのRectangleができない)
{
shapedGrid = grid.Where(pt => RhinoWrapper.IsInside(pt, rectMainCrv.ToPolyline())).ToList();
//ref
shapeCrv = rectMainCrv.ToPolyline().ToPolylineCurve();
//ref
var plane = new Rhino.Geometry.Plane(AreaMassProperties.Compute(shapeCrv).Centroid, Vector3d.ZAxis);
shapeCrv.Offset(plane, (-gridSize * minRoomNum), 1, CurveOffsetCornerStyle.Sharp)[0].TryGetPolyline(out offsetShapeCrv);
if (offsetShapeCrv == null)
{
offsetShapeCrv = new Rectangle3d(plane, 1, 1).ToPolyline();
}
}
}