//public override void Execute(AgentBase agent)
//{
// CellGroup cellGroup = agent as CellGroup;
// if (!cellGroup.IsActive) return;
// CellAgentSystem cellSystem = cellGroup.AgentSystem as CellAgentSystem;
// for (int i = 0; i < cellSystem.Agents.Count; i++)
// {
// CellGroup anotherGroup = cellSystem.Agents[i] as CellGroup;
// if (cellGroup == anotherGroup) continue;
// // check if the agent can merge with another agnent
// foreach (Point3d place in cellGroup.PlaceToConnect())
// {
// foreach (Plane pose in cellSystem.CellPoses.Branch(i))
// {
// if (place.DistanceTo(pose.Origin) < 0.75 * cellSystem.GridSize)
// {
// cellGroup.Merge(anotherGroup, place, pose);
// cellSystem.Agents.RemoveAt(i);
// goto NextStep;
// }
// }
// }
// NextStep: continue;
// }
//}
public void ExecuteWithSystem(CellGroup cellGroup, CellAgentSystem cellSystem)
{
if (!cellGroup.IsActive)
{
return;
}
//List<int> RemovedIndices = new List<int>(); //for the bug during merging
for (int i = 0; i < cellSystem.Agents.Count; i++)
{
//if (RemovedIndices.Contains(i)) continue; //for the bug during merging
CellGroup anotherGroup = cellSystem.Agents[i] as CellGroup;
if (cellGroup == anotherGroup)
{
continue;
}
// check if the agent can merge with another agnent
foreach (Point3d place in cellGroup.PlaceToConnect())
{
foreach (Plane pose in cellSystem.CellPoses.Branch(i))
{
if (place.DistanceTo(pose.Origin) < 0.75 * cellSystem.GridSize)
{
cellGroup.Merge(anotherGroup, place, pose);
cellSystem.Agents.RemoveAt(i);
//RemovedIndices.Add(i); //for the bug during merging
goto NextStep;
}
}
}
NextStep : continue;
}
}
//public override void Execute(AgentBase agent)
//{
// CellGroup cellGroup = agent as CellGroup;
// Vector3d t = new Vector3d(rd.NextDouble()-0.5, rd.NextDouble()-0.5, 0.0);
// double r = rd.NextDouble() * Math.PI * 0.05;
// cellGroup.Move(t, r);
//}
public virtual void ExecutWithSystem(CellGroup cellGroup, CellAgentSystem cellSystem)
{
Vector3d t = new Vector3d(rd.NextDouble() - 0.5, rd.NextDouble() - 0.5, 0.0);
double r = (rd.NextDouble() - 0.5) * Math.PI * 0.05;
t += FindNeighor(cellGroup, cellSystem);
cellGroup.Move(t, r);
}
public void ExecuteSingleStep()
{
if (System.Agents.Count == 1)
{
return;
}
foreach (AgentBase agent in System.Agents)
{
CellGroup cellGroup = agent as CellGroup;
cellGroup.ExecuteWithSystem(System);
System.IterationCount += 1;
}
}
internal void Merge(CellGroup anotherGroup, Point3d place, Plane anotherGroupPose)
{
Plane poseToConnect = GetPose(GetCellFromPoint(place));
List <Cell> cellsToAdd = new List <Cell>();
int times = 0;
// try 3 different angles in which they can connect without collision
while (true)
{
cellsToAdd.Clear();
foreach (Cell cell in anotherGroup.Cells)
{
Point3d cellCenter = anotherGroup.GetPose(cell).Origin;
Point3d cellCenterOriented = cellCenter;
cellCenterOriented.Transform(Transform.PlaneToPlane(anotherGroupPose, poseToConnect));
Cell cellToAdd = GetCellFromPoint(cellCenterOriented);
if (times < 3)
{
foreach (Cell c in Cells)
{
if (c == cellToAdd)
{
goto NextStep;
}
}
}
cellToAdd.IsActive = cell.IsActive;
cellsToAdd.Add(cellToAdd);
}
Cells.AddRange(cellsToAdd);
break;
NextStep:
poseToConnect.Rotate(2 * Math.PI / 3, poseToConnect.ZAxis);
times += 1;
}
}
private Vector3d FindNeighor(CellGroup cellGroup, CellAgentSystem cellSystem)
{
int minIndex = -1;
double minDis = 999999999999999999;
for (int i = 0; i < cellSystem.Agents.Count; i++)
{
CellGroup g = cellSystem.Agents[i] as CellGroup;
if (cellGroup.Pose.Origin.DistanceTo(g.Pose.Origin) < 0.01)
{
continue;
}
if (minDis > cellGroup.Pose.Origin.DistanceTo(g.Pose.Origin))
{
minIndex = i;
minDis = cellGroup.Pose.Origin.DistanceTo(g.Pose.Origin);
}
}
CellGroup gMin = cellSystem.Agents[minIndex] as CellGroup;
Vector3d v = new Vector3d(gMin.Pose.Origin - cellGroup.Pose.Origin);
v.Unitize();
return(v * 0.8);
}
