public void UpdateRTree(Mesh M)
{
//IEnumerable<int[]> index;
//int[] VertexNumbers;
//int vN;
foreach (Particle p in Particles)
{
// clear particle neighbours list
p.neighbours.Clear();
p.neighFieldPts.Clear();
// Eventhandler function for RTree search
EventHandler <RTreeEventArgs> rTreeCallback = (object sender, RTreeEventArgs args) =>
{
p.neighbours.Add(M.Vertices[args.Id]);
p.neighFieldPts.Add(new FieldPt(args.Id, scalarField[args.Id]));
};
MeshRTree.Search(new Sphere(M.ClosestPoint(p.pos + p.vel * futPosMult), seekRadius), rTreeCallback);
// p.SeekNeighbours(seekIntensity);
p.SeekColor(seekIntensity);
//// query RTree of Mesh vertices for closest point to p.pos (returns an IEnumerable)
//index = RTree.Point3dClosestPoints(M.Vertices.ToPoint3dArray(), new List<Point3d>{ p.pos}, 200);
//// get enumerator
//IEnumerator en = index.GetEnumerator();
//// get first array of indices
//en.MoveNext();
//VertexNumbers = (int[]) en.Current;
//vN = VertexNumbers[0];
//// update scalar field
scalarField[MeshPoints.ClosestPoint(p.pos)] += p.PheroStrength;
}
foreach (Particle p in Particles)
{
}
if (Particles.Count > 500)
{
Parallel.ForEach(Particles, p =>
{
p.Update();
});
}
else
{
foreach (Particle p in Particles)
{
p.Update();
}
}
}
public void SeekAngVis(double seekIntensity)
{
acc = Vector3d.Zero;
visAng = pSystem.sensAng;
Vector3d rotAxis = MeshPoints[currentCPindex].Normal;
sensorC = VectorAmp(vel, pSystem.sensDist);
sensorL = new Vector3d(sensorC);
sensorR = new Vector3d(sensorC);
sensorL.Rotate(visAng * 0.5, rotAxis);
sensorR.Rotate(visAng * -0.5, rotAxis);
int pL, pR, pC;
double briL, briR, briC;
pC = MeshPoints.ClosestPoint(pos + sensorC);
pL = MeshPoints.ClosestPoint(pos + sensorL);
pR = MeshPoints.ClosestPoint(pos + sensorR);
briC = scalarField[pC];
briL = scalarField[pL];
briR = scalarField[pR];
Vector3d desired = Vector3d.Zero;
//if (briL - briR < 0.01)
//{
// Random rnd = new Random();
// futPos.Rotate(visAng * (rnd.NextDouble() - 0.5), rotAxis);
//}
//else
// futPos = briL > briR ? futPosL : futPosR;
// find brightest sensor
Vector3d direction = sensorC;
if (briL > briC && briL > briR)
{
direction = sensorL;
}
else if (briR > briC)
{
direction = sensorR;
}
// find mesh closest point to futpos
desired = MeshPoints[MeshPoints.ClosestPoint(pos + direction)].Location - pos;
desired.Unitize();
desired *= MaxSpeed;
acc = (desired - vel) * seekIntensity;
}
// . . . . . . . . . . . . . . . . . . . . . . methods
/// <summary>
/// Update with Jeff Jones 3-sensors method
/// </summary>
public void UpdateJones()
{
/*
* How was it parallelized?
* Several particles might write their pheromone contribution to the same mesh point,
* to avoid simultaneous write to te same location (surest way to get an error,
* even using so called "thread-safe" collections - especially if they are made
* of structures and not classes):
* . each particle saves its own closest point index as an internal field
* . the resulting contribution is written in a separate non-parallel loop
* that updates the scalar field.
*/
Parallel.ForEach(Particles, p =>
{
// find mesh closest point index
p.currentCPindex = MeshPoints.ClosestPoint(p.pos);
// Seek brightest point direction
p.SeekAngVis(seekIntensity);
});
// write to scalar field
foreach (Particle p in Particles)
{
scalarField[p.currentCPindex] = (float)Math.Min(1.0, scalarField[p.currentCPindex] + p.PheroStrength);
}
// update particles
if (Particles.Count > 50)
{
Parallel.ForEach(Particles, p =>
{
p.Update();
});
}
else
{
foreach (Particle p in Particles)
{
p.Update();
}
}
}
/// <summary>
/// Update with RTree method (samples points within a sphere)
/// </summary>
/// <param name="M"></param>
public void UpdateRTree(Mesh M)
{
foreach (Particle p in Particles)
{
// clear particle neighbours list
p.neighbours.Clear();
p.neighFieldPts.Clear();
// Eventhandler function for RTree search
EventHandler <RTreeEventArgs> rTreeCallback = (object sender, RTreeEventArgs args) =>
{
p.neighbours.Add(M.Vertices[args.Id]);
p.neighFieldPts.Add(new FieldPt(args.Id, scalarField[args.Id]));
};
MeshRTree.Search(new Sphere(M.ClosestPoint(p.pos + p.vel * sensDist), seekRadius), rTreeCallback);
// Seek brightest point direction
p.SeekColor(seekIntensity);
//// update scalar field
int cpInd = MeshPoints.ClosestPoint(p.pos);
scalarField[cpInd] = (float)Math.Min(1.0, scalarField[cpInd] + p.PheroStrength);
}
if (Particles.Count > 50)
{
Parallel.ForEach(Particles, p =>
{
p.Update();
});
}
else
{
foreach (Particle p in Particles)
{
p.Update();
}
}
}