/**
* <summary>Computes the neighbors of this agent.</summary>
*/
internal void computeNeighbors(KdTree kdTree_)
{
obstacleNeighbors_.Clear();
float rangeSq = RVOMath.sqr(timeHorizonObst_ * maxSpeed_ + radius_);
kdTree_.computeObstacleNeighbors(this, rangeSq);
agentNeighbors_.Clear();
if (maxNeighbors_ > 0)
{
rangeSq = RVOMath.sqr(neighborDist_);
kdTree_.computeAgentNeighbors(this, ref rangeSq);
}
}
public Vector2 compute(IList <State> sate, Vector2 currentPosition)
{
CurrentAgent.position_ = currentPosition;
// CurrentAgent.velocity_ = new Vector2(0, 0); //bug bug bug gdy jest zerowane powoduje problem roboty powinny uwzgledniac velocity z poptrzedniego wyliczenia
IList <Agent> agents = getAgents(sate);
agents.Add(CurrentAgent);
agents_ = agents;
kdTree_ = new KdTree();
kdTree_.buildAgentTree(agents_);
kdTree_.buildObstacleTree(obstacles_);
setAgentPrefVelocity();
CurrentAgent.computeNeighbors(kdTree_); //Simulator.Instance.agents_[agentNo].computeNeighbors();
CurrentAgent.computeNewVelocity(); //Simulator.Instance.agents_[agentNo].computeNewVelocity();
CurrentAgent.update();
return(CurrentAgent.velocity_);
}