// Save the data of each agent (position, velocity, acceleration, distance with the closer, local density and agent's leader
internal static void saveData(RVOSimulator sim, bool looped, bool follow)
{
string name = "Data/n";
string num = sim.getNumAgents().ToString();
name += num;
if (follow)
{
name += "f";
}
name += "_agents_data.csv";
System.IO.Directory.CreateDirectory("Data/");
if (!File.Exists(name))
{
File.Create(name).Dispose();
using (TextWriter tw = new StreamWriter(name))
{
tw.WriteLine("Agent \t Position X \t Position Y \t Velocity X \t Velocity Y \t Acceleration X + \t Acceleration Y + \t Closer Agent Distance \t LocalDensity 2 \t LocalDensity 9 \t AgentLeaderNo \t Heure");
}
}
for (int i = 0; i < sim.getNumAgents(); i++)
{
using (TextWriter tw = new StreamWriter(name, true))
{
tw.WriteLine(i + "\t" + sim.getAgentPosition(i).x() + "\t" + sim.getAgentPosition(i).y() + "\t" + sim.getAgentVelocity(i).x() + "\t" + sim.getAgentVelocity(i).y() + "\t" + sim.getAgentAcceleration(i).x() + "\t" + sim.getAgentAcceleration(i).y() + "\t"
+ sim.getAgentDistanceWithCloserAgent(i, looped) + '\t'
+ sim.getAgentLocalDensity(i, looped, 2) + '\t' + sim.getAgentLocalDensity(i, looped, 9) + '\t'
+ sim.getAgentLeaderNo(i) + "\t" + DateTime.Now);
}
}
}
public static void saveSimulatorData(RVOSimulator sim, bool follow)
{
string name = "Agents_moy_data.csv";
if (!File.Exists(name))
{
string tmp = " ";
foreach (Agent a in sim.agents_)
{
tmp += a.id_ + " : vitesse_moy \t";
}
File.Create(name).Dispose();
using (TextWriter tw = new StreamWriter(name))
{
tw.WriteLine(tmp);
}
}
using (TextWriter tw = new StreamWriter(name, true))
{
string tmp = " ";
foreach (Agent a in sim.agents_)
{
tmp += " " + Vector2.abs(a.velocity_) + "\t";
}
tw.WriteLine(tmp);
}
}
/**
* <summary>Constructs and initializes a worker.</summary>
*
* <param name="start">Start.</param>
* <param name="end">End.</param>
* <param name="doneEvent">Done event.</param>
*/
internal Worker(int start, int end, ManualResetEvent doneEvent, RVOSimulator simulator, bool looped)
{
start_ = start;
end_ = end;
doneEvent_ = doneEvent;
simulator_ = simulator;
this.looped = looped;
}
/**
* <summary>Constructs and initializes a worker.</summary>
*
* <param name="start">Start.</param>
* <param name="end">End.</param>
* <param name="doneEvent">Done event.</param>
*/
internal Worker(ManualResetEvent doneEvent, RVOSimulator simulator, bool looped)
{
agents = new List <Agent>();
vit_moy = new Vector2();
doneEvent_ = doneEvent;
simulator_ = simulator;
this.looped = looped;
}
public HelbingAgent(RVOSimulator sim, int type) : base(sim)
{
lambda_ = 5;
A_ = 25.0f;
B_ = 0.13f;
tau_ = 0.2f;
m_ = 80.0f;
k_ = 120000.0f;
type_ = type;
//,A_(0.5),B_(1.65),tau_(10),lambda_(5)
// laure : A = 0.5, B = 1.65, tau = 2, lambda = 0.12
}
// Save the agent's data when it attempts the end of the corridor
//Not used
static void saveAgentData(RVOSimulator sim, int agentNo, bool follow)
{
string name = "Data/n";
string num = sim.getNumAgents().ToString();
name += num;
if (follow)
{
name += "f";
}
name += "_end_data.csv";
System.IO.File.WriteAllText(@name, agentNo.ToString() + '\t' + sim.getAgentCptDist(agentNo).ToString() + '\t' + sim.getAgentCptTime(agentNo));
}
public RVOAgent(RVOSimulator sim) : base(sim)
{
}
/** Constructor - Will be used in all Child class **/
public Scenario()
{
goals = new List <RVO.Vector2>();
random = new System.Random();
sim_ = new RVOSimulator(0.895f, 0.5f, 8, 0.25f, 0.25f, 0.85f, 0.5f);
}
public GroupAgent(RVOSimulator sim)
{
sim_ = sim;
}
/**
* <summary>Builds an agent k-D tree.</summary>
*/
internal KdTree(RVOSimulator sim)
{
sim_ = sim;
agentTree_ = new AgentTreeNode[sim_.getNumAgents()];
}