bool BelongToSameGroup(AAgent a, AAgent b)
{
bool belong = false;
// Condition 1: same position
float dist = Vector2.Distance(a.position, b.position);
belong = dist < ed;
//// Condition 2: same velocity magnitude
belong &= Mathf.Abs(a.velocity.sqrMagnitude - b.velocity.sqrMagnitude) < ev * ev;
//// Condition 3: same move direction
Vector2 dirA = (a.goal - a.position).normalized;
Vector2 dirB = (b.goal - b.position).normalized;
belong &= Vector2.Angle(dirA, dirB) < eav;
return(belong);
}
// Deteccion de puntos extremos tangentes
static void GetTangents(List <int> group, Dictionary <int, float> ttc,
Vector2 position, Vector2 dir, float radius,
out Vector2 closestAgentPosition,
out Vector2 closestAgentVelocity,
out List <Point> tangentsPoints,
out List <Tuple <Point, Point> > points,
int povID, out int turnTo, out List <int> members)
{
float minimoTTC = Mathf.Infinity, minDst = MAX_DISTANCE;
Point agentPos = new Point(position);
Point outer1_p1, outer1_p2, outer2_p1, outer2_p2;
tangentsPoints = new List <Point>();
points = new List <Tuple <Point, Point> >();
members = new List <int>();
closestAgentPosition = Vector2.zero;
closestAgentVelocity = Vector2.zero;
turnTo = 0;
foreach (int id in group)
{
if (group.Contains(povID))
{
break;
}
if (!ttc.ContainsKey(id))
{
continue;
}
// Calculamos el agente mas cercano al observador
AAgent agent_tmp = Engine.Instance.GetAgent(id);
float dst = Vector2.Distance(position, agent_tmp.position);
turnTo += agent_tmp.TurnTo;
// Si este agente esta mas cerca de lo permitido entonces
// no es tomado en cuenta
if (dst < MIN_DISTANCE)
{
continue;
}
if (!Behaviours.ItsInFront(dir, agent_tmp.position - position))
{
continue;
}
if (dst < minDst)
{
closestAgentPosition = agent_tmp.position;
minDst = dst;
}
if (ttc[id] < minimoTTC)
{
closestAgentVelocity = agent_tmp.velocity;
minimoTTC = ttc[id];
}
members.Add(id);
// Find tangents points from this agent to actual iteration neighbour
Global.FindCircleCircleTangents(agentPos, radius,
new Point(agent_tmp.position), agent_tmp.radius,
out outer1_p1, out outer1_p2, out outer2_p1, out outer2_p2);
// agregamos el vector tangente en direccion del agente observador
dst = Point.Distance(outer1_p1, agentPos);
float dst_2 = Point.Distance(outer1_p2, agentPos);
if (dst < dst_2)
{
tangentsPoints.Add(outer1_p2);
points.Add(new Tuple <Point, Point>(outer1_p1, outer1_p2));
}
else
{
tangentsPoints.Add(outer1_p1);
points.Add(new Tuple <Point, Point>(outer1_p2, outer1_p1));
}
// agregamos el vector tangente en direccion del agente observador
dst = Point.Distance(outer2_p1, agentPos);
dst_2 = Point.Distance(outer2_p2, agentPos);
if (dst < dst_2)
{
tangentsPoints.Add(outer2_p2);
points.Add(new Tuple <Point, Point>(outer2_p1, outer2_p2));
}
else
{
tangentsPoints.Add(outer2_p1);
points.Add(new Tuple <Point, Point>(outer2_p2, outer2_p1));
}
}
}