/**
* <summary>Builds an agent k-D tree.</summary>
*/
internal void buildAgentTree(Simulator sim)
{
sim_ = sim;
if (agents_ == null || agents_.Length != sim_.agents_.Count)
{
agents_ = new Agent[sim_.agents_.Count];
for (int i = 0; i < agents_.Length; ++i)
{
agents_[i] = sim_.agents_[i];
}
agentTree_ = new AgentTreeNode[2 * agents_.Length];
for (int i = 0; i < agentTree_.Length; ++i)
{
agentTree_[i] = new AgentTreeNode();
}
}
if (agents_.Length != 0)
{
buildAgentTreeRecursive(0, agents_.Length, 0);
}
}
public void BuildAgentTree () {
//Dummy to avoid compiler warnings
obstacleRoot = new ObstacleTreeNode();
obstacleRoot.right = obstacleRoot;
obstacleRoot.left = obstacleRoot;
obstacleRoot = null;
List<Agent> ag = simulator.GetAgents ();
if (agents == null || agents.Count != ag.Count || rebuildAgents) {
rebuildAgents = false;
if (agents == null) agents = new List<Agent>(ag.Count);
else agents.Clear ();
agents.AddRange (simulator.GetAgents());
}
if (agentTree.Length != agents.Count*2) {
agentTree = new AgentTreeNode[agents.Count*2];
for (int i=0;i<agentTree.Length;i++) agentTree[i] = new AgentTreeNode();
}
if (agents.Count != 0) {
BuildAgentTreeRecursive (0,agents.Count, 0);
}
}
/**
* <summary>Builds an agent k-D tree.</summary>
*/
internal void buildAgentTree()
{
if (agents_ == null || agents_.Length != Simulator.Instance.agents_.Count)
{
agents_ = new Agent[Simulator.Instance.agents_.Count];
var keys = Simulator.Instance.getAgentsKeysArray();
for (int i = 0; i < agents_.Length; ++i)
{
agents_[i] = Simulator.Instance.agents_[keys[i]];
}
agentTree_ = new AgentTreeNode[2 * agents_.Length];
for (int i = 0; i < agentTree_.Length; ++i)
{
agentTree_[i] = new AgentTreeNode();
}
}
if (agents_.Length != 0)
{
buildAgentTreeRecursive(0, agents_.Length, 0);
}
}
/**
* <summary>Builds an agent k-D tree.</summary>
*/
internal void buildAgentTree()
{
if (agents_ == null || dirty) // agents_.Length != simulator_.agents_.Count)
{
agents_ = new Agent[simulator_.agents_.Count];
for (int i = 0; i < agents_.Length; ++i)
{
agents_[i] = simulator_.agents_[i];
}
agentTree_ = new AgentTreeNode[2 * agents_.Length];
for (int i = 0; i < agentTree_.Length; ++i)
{
agentTree_[i] = new AgentTreeNode();
}
}
dirty = false;
if (agents_.Length != 0)
{
buildAgentTreeRecursive(0, agents_.Length, 0);
}
}
public void BuildAgentTree()
{
List <Agent> ag = simulator.GetAgents();
if (agents == null || agents.Count != ag.Count || rebuildAgents)
{
rebuildAgents = false;
if (agents == null)
{
agents = new List <Agent>(ag.Count);
}
else
{
agents.Clear();
}
agents.AddRange(simulator.GetAgents());
}
if (agentTree.Length != agents.Count * 2)
{
agentTree = new AgentTreeNode[agents.Count * 2];
for (int i = 0; i < agentTree.Length; i++)
{
agentTree[i] = new AgentTreeNode();
}
}
if (agents.Count != 0)
{
BuildAgentTreeRecursive(0, agents.Count, 0);
}
}
/**
* <summary>Builds an agent k-D tree.</summary>
*/
internal void buildAgentTree()
{
//if (agents_ == null || agents_.Length != Simulator.Instance.agents_.Count)
{
agents_ = new Agent[Simulator.Instance.agents_.Count];
uint j = 0;
foreach (var agentsKey in Simulator.Instance.agents_.Keys)
{
agents_[j++] = Simulator.Instance.agents_[agentsKey];
}
agentTree_ = new AgentTreeNode[2 * agents_.Length];
for (int i = 0; i < agentTree_.Length; ++i)
{
agentTree_[i] = new AgentTreeNode();
}
}
if (agents_.Length != 0)
{
buildAgentTreeRecursive(0, agents_.Length, 0);
}
}
private void resetAgentTree(int v)
{
agentTree_ = new AgentTreeNode[v];
for (int i = 0; i < v; i++)
{
agentTree_[i] = new AgentTreeNode(3);
}
}
//public AgentTreeNode[] AgentTree { get { return agentTree_} };
internal void getTree()
{
for (int i = 0; i < agentTree_.Length; i++)
{
AgentTreeNode item = (AgentTreeNode)agentTree_.GetValue(i);
System.Console.Out.WriteLine(string.Format("{0};{1};{2};{3};{4};{5};{6};{7};",
item.begin_,
item.end_,
item.left_,
item.right_,
item.maxX_,
item.maxY_,
item.minX_,
item.minY_));
}
}
public void BuildAgentTree () {
List<Agent> ag = simulator.GetAgents ();
if (agents == null || agents.Count != ag.Count || rebuildAgents) {
rebuildAgents = false;
if (agents == null) agents = new List<Agent>(ag.Count);
else agents.Clear ();
agents.AddRange (simulator.GetAgents());
}
if (agentTree.Length != agents.Count*2) {
agentTree = new AgentTreeNode[agents.Count*2];
for (int i=0;i<agentTree.Length;i++) agentTree[i] = new AgentTreeNode();
}
if (agents.Count != 0) {
BuildAgentTreeRecursive (0,agents.Count, 0);
}
}
internal void buildAgentTree()
{
if (agents_==null || agents_.Length != Simulator.Instance.agents_.Count)
{
agents_ = new Agent[Simulator.Instance.agents_.Count];
for (int i = 0; i < agents_.Length; ++i)
{
agents_[i] = Simulator.Instance.agents_[i];
}
agentTree_ = new AgentTreeNode[2 * agents_.Length];
for (int i = 0; i < agentTree_.Length; ++i)
{
agentTree_[i] = new AgentTreeNode();
}
}
if (agents_.Length != 0)
{
buildAgentTreeRecursive(0, agents_.Length, 0);
}
}
public void BuildAgentTree()
{
//Dummy to avoid compiler warnings
obstacleRoot = new ObstacleTreeNode();
obstacleRoot.right = obstacleRoot;
obstacleRoot.left = obstacleRoot;
obstacleRoot = null;
List <Agent> ag = simulator.GetAgents();
if (agents == null || agents.Count != ag.Count || rebuildAgents)
{
rebuildAgents = false;
if (agents == null)
{
agents = new List <Agent>(ag.Count);
}
else
{
agents.Clear();
}
agents.AddRange(simulator.GetAgents());
}
if (agentTree.Length != agents.Count * 2)
{
agentTree = new AgentTreeNode[agents.Count * 2];
for (int i = 0; i < agentTree.Length; i++)
{
agentTree[i] = new AgentTreeNode();
}
}
if (agents.Count != 0)
{
BuildAgentTreeRecursive(0, agents.Count, 0);
}
}
/**
* <summary>Builds an agent k-D tree.</summary>
*/
internal void buildAgentTree(IList <Agent> Agents)
{
if (agents_ == null || agents_.Length != Agents.Count)
{
agents_ = new Agent[Agents.Count];
for (int i = 0; i < agents_.Length; ++i)
{
agents_[i] = Agents[i];
}
agentTree_ = new AgentTreeNode[2 * agents_.Length];
for (int i = 0; i < agentTree_.Length; ++i)
{
agentTree_[i] = new AgentTreeNode();
}
}
if (agents_.Length != 0)
{
buildAgentTreeRecursive(0, agents_.Length, 0);
}
}
/**
* <summary>Builds an agent k-D tree.</summary>
*/
internal void buildAgentTree()
{
if (agents == null || agents.Length != Simulator.Instance.agents.Count)
{
agents = new Agent[Simulator.Instance.agents.Count];
for (int i = 0; i < agents.Length; ++i)
{
agents[i] = Simulator.Instance.agents[i];
}
agentTree = new AgentTreeNode[2 * agents.Length];
for (int i = 0; i < agentTree.Length; ++i)
{
agentTree[i] = new AgentTreeNode();
}
}
if (agents.Length != 0)
{
buildAgentTreeRecursive(0, agents.Length, 0);
}
}
/**
* <summary>Builds an agent k-D tree.</summary>
*/
internal void BuildAgentTree()
{
if (_agents == null || _agents.Length != Simulator.Instance.Agents.Count)
{
_agents = new Agent[Simulator.Instance.Agents.Count];
for (int i = 0; i < _agents.Length; ++i)
{
_agents[i] = Simulator.Instance.Agents[i];
}
_agentTree = new AgentTreeNode[2 * _agents.Length];
for (int i = 0; i < _agentTree.Length; ++i)
{
_agentTree[i] = new AgentTreeNode();
}
}
if (_agents.Length != 0)
{
BuildAgentTreeRecursive(0, _agents.Length, 0);
}
}
/**
* <summary>Builds an agent k-D tree.</summary>
*/
internal void buildAgentTree()
{
if (agents_ == null || agents_.Length != simulator.agents_.Count)
{
agents_ = new Agent[simulator.agentList.Count];
agentTree_ = new AgentTreeNode[2 * agents_.Length];
for (int i = 0; i < agentTree_.Length; ++i)
{
agentTree_[i] = new AgentTreeNode();
}
}
if (agents_.Length != 0)
{
for (int i = 0; i < agents_.Length; i++)
{
agents_[i] = simulator.agentList[i];
}
buildAgentTreeRecursive(0, agents_.Length, 0);
}
}
private void BuildAgentTreeRecursive(int start, int end, int node)
{
AgentTreeNode nd = agentTree[node];
nd.start = start;
nd.end = end;
nd.xmin = nd.xmax = agents[start].position.x;
nd.ymin = nd.ymax = agents[start].position.z;
for (int i = start + 1; i < end; i++)
{
nd.xmin = Math.Min(nd.xmin, agents[i].position.x);
nd.xmax = Math.Max(nd.xmax, agents[i].position.x);
nd.ymin = Math.Min(nd.ymin, agents[i].position.z);
nd.ymax = Math.Max(nd.ymax, agents[i].position.z);
}
//Debug.DrawLine (new Vector3 (nd.xmin,0,nd.ymin),new Vector3 (nd.xmin,0,nd.ymax),Color.blue);
//Debug.DrawLine (new Vector3 (nd.xmax,0,nd.ymin),new Vector3 (nd.xmax,0,nd.ymax),Color.blue);
//Debug.DrawLine (new Vector3 (nd.xmin,0,nd.ymin),new Vector3 (nd.xmax,0,nd.ymin),Color.blue);
//Debug.DrawLine (new Vector3 (nd.xmin,0,nd.ymax),new Vector3 (nd.xmax,0,nd.ymax),Color.blue);
if (end - start > MAX_LEAF_SIZE)
{
/* This is no leaf node */
bool isVertical = (nd.xmax - nd.xmin > nd.ymax - nd.ymin);
float splitValue = (isVertical ? 0.5f * (nd.xmax + nd.xmin) : 0.5f * (nd.ymax + nd.ymin));
#if ASTARDEBUG
if (isVertical)
{
Debug.DrawLine(new Vector3(splitValue, 0, -2000), new Vector3(splitValue, 0, 2000), Color.green);
}
else
{
Debug.DrawLine(new Vector3(-2000, 0, splitValue), new Vector3(2000, 0, splitValue), Color.green);
}
#endif
int left = start;
int right = end;
while (left < right)
{
while (left < right && (isVertical ? agents[left].position.x : agents[left].position.z) < splitValue)
{
left++;
}
while (right > left && (isVertical ? agents[right - 1].position.x : agents[right - 1].position.z) >= splitValue)
{
right--;
}
if (left < right)
{
Agent tmp = agents[left];
agents[left] = agents[right - 1];
agents[right - 1] = tmp;
left++;
right--;
}
}
int leftSize = left - start;
if (leftSize == 0)
{
leftSize++;
left++;
right++;
}
nd.left = node + 1;
nd.right = node + 1 + (2 * leftSize - 1);
agentTree[node] = nd;
BuildAgentTreeRecursive(start, left, agentTree[node].left);
BuildAgentTreeRecursive(left, end, agentTree[node].right);
}
else
{
agentTree[node] = nd;
}
}
