/// <summary>
/// Creates a weighted index list from a binary reader
/// </summary>
/// <param name="reader">The binary reader</param>
public static WeightedIndexList ReadFrom(BinaryReader reader)
{
var len = reader.ReadInt32();
var ret = new WeightedIndex[len];
for (var i = 0; i < len; i++)
{
var category = new WeightedIndex
{
Index = reader.ReadUInt32(), Weight = reader.ReadSingle()
};
ret[i] = category;
}
return(Create(ret));
}
public static RefinementResult Make(QuadTopology controlTopology, int[] controlSurfaceMap, int refinementLevel, bool derivativesOnly)
{
if (controlTopology.Faces.Length == 0 && controlTopology.VertexCount == 0)
{
return(RefinementResult.Empty);
}
PackedLists <WeightedIndex> limitStencils, limitDuStencils, limitDvStencils;
QuadTopology refinedTopology;
SubdivisionTopologyInfo refinedTopologyInfo;
int[] controlFaceMap;
using (var refinement = new Refinement(controlTopology, refinementLevel)) {
limitStencils = refinement.GetStencils(StencilKind.LimitStencils);
limitDuStencils = refinement.GetStencils(StencilKind.LimitDuStencils);
limitDvStencils = refinement.GetStencils(StencilKind.LimitDvStencils);
refinedTopology = refinement.GetTopology();
var adjacentVertices = refinement.GetAdjacentVertices();
var rules = refinement.GetVertexRules();
refinedTopologyInfo = new SubdivisionTopologyInfo(adjacentVertices, rules);
controlFaceMap = refinement.GetFaceMap();
}
if (derivativesOnly)
{
if (refinementLevel != 0)
{
throw new InvalidOperationException("derivatives-only mode can only be used at refinement level 0");
}
limitStencils = PackedLists <WeightedIndex> .Pack(Enumerable.Range(0, controlTopology.VertexCount)
.Select(vertexIdx => {
var selfWeight = new WeightedIndex(vertexIdx, 1);
return(new List <WeightedIndex> {
selfWeight
});
}).ToList());
}
PackedLists <WeightedIndexWithDerivatives> stencils = WeightedIndexWithDerivatives.Merge(limitStencils, limitDuStencils, limitDvStencils);
var refinedMesh = new SubdivisionMesh(controlTopology.VertexCount, refinedTopology, stencils);
return(new RefinementResult(refinedMesh, refinedTopologyInfo, controlFaceMap));
}
internal void AddSplitPoint(int tiMul3, BspSplitPoint sp)
{
if (sp.VertexIndex >= 0)
{
return; // already inserted
}
if (sp.Parameter == 0.0)
{
sp.VertexIndex = m_triangleVertexIndexArray[tiMul3 + sp.TriangleVertexIndex];
return;
}
int vi = VertexCount;
int vc = vi + 1;
EnsureVertexCapacity(vc);
VertexCount = vc;
int vi0 = m_triangleVertexIndexArray[tiMul3 + sp.TriangleVertexIndex];
int vi1 = m_triangleVertexIndexArray[tiMul3 + (sp.TriangleVertexIndex + 1) % 3];
V3d p0 = m_positionArray[vi0];
m_positionArray[vi] = p0 + sp.Parameter * (m_positionArray[vi1] - p0);
int wc = 0;
int dvi0 = vi0 - m_originalVertexCount;
wc += dvi0 < 0 ? 1 : m_weightsArray[dvi0].Length;
int dvi1 = vi1 - m_originalVertexCount;
wc += dvi1 < 0 ? 1 : m_weightsArray[dvi1].Length;
var weights = new WeightedIndex[wc];
var invParam = 1.0 - sp.Parameter;
wc = 0;
if (dvi0 < 0)
{
weights[wc++] = new WeightedIndex(invParam, vi0);
}
else
{
foreach (var widx in m_weightsArray[dvi0])
{
weights[wc++] =
new WeightedIndex(invParam * widx.Weight, widx.Index);
}
}
if (dvi1 < 0)
{
weights[wc++] = new WeightedIndex(sp.Parameter, vi1);
}
else
{
foreach (var widx in m_weightsArray[dvi1])
{
weights[wc++] =
new WeightedIndex(sp.Parameter * widx.Weight, widx.Index);
}
}
m_weightsArray[vi - m_originalVertexCount] = weights;
sp.VertexIndex = vi;
}
public void Merge(WeightedIndex weightedIndex, float weightCoefficient)
{
weights.TryGetValue(weightedIndex.Index, out float previousWeight);
weights[weightedIndex.Index] = previousWeight + weightCoefficient * weightedIndex.Weight;
}
/// <summary>
/// This method return a data field in which the values assigned to visible cells from a list of vantage cells are calculated through an interpolation function.
/// </summary>
/// <param name="vantageCells">The destinations.</param>
/// <param name="initialValue">The initial value.</param>
/// <param name="notVisibleCellIds">The cell IDs that are not visible.</param>
/// <param name="notVisibleValue">The value of not visible cells.</param>
/// <param name="name">The name of the data.</param>
/// <param name="interpolation">The interpolation function.</param>
/// <returns>SpatialAnalysis.Data.SpatialDataField.</returns>
public SpatialAnalysis.Data.SpatialDataField GetSpatialDataField(HashSet <int> vantageCells, double initialValue, HashSet <int> notVisibleCellIds,
double notVisibleValue, string name, Func <double, double> interpolation)
{
var timer = new System.Diagnostics.Stopwatch();
timer.Start();
#region set the initial potential to positive infinity; define heap and labeled where the potential is zero;
SortedSet <WeightedIndex> heap = new SortedSet <WeightedIndex>();
WeightedIndex[,] indices = new WeightedIndex[this._host.cellularFloor.GridWidth, this._host.cellularFloor.GridHeight];
bool[,] marked = new bool[this._host.cellularFloor.GridWidth, this._host.cellularFloor.GridHeight];
for (int i = 0; i < this._host.cellularFloor.GridWidth; i++)
{
for (int j = 0; j < this._host.cellularFloor.GridHeight; j++)
{
indices[i, j] = new WeightedIndex(i, j, double.PositiveInfinity);
}
}
foreach (var id in vantageCells)
{
Cell cell = this._host.cellularFloor.FindCell(id);
indices[cell.CellToIndex.I, cell.CellToIndex.J].WeightingFactor = initialValue;
marked[cell.CellToIndex.I, cell.CellToIndex.J] = true;
heap.Add(indices[cell.CellToIndex.I, cell.CellToIndex.J]);
}
foreach (int id in notVisibleCellIds)
{
var cell = this._host.cellularFloor.FindCell(id);
marked[cell.CellToIndex.I, cell.CellToIndex.J] = true;
}
#endregion
while (heap.Count != 0)
{
var current = heap.Min;
heap.Remove(current);
marked[current.I, current.J] = true;
foreach (var item in this.Rays.Keys)
{
int I = current.I + item.I;
int J = current.J + item.J;
if (this._host.cellularFloor.ContainsCell(I, J) &&
this._host.cellularFloor.Cells[I, J].FieldOverlapState == OverlapState.Inside &&
!marked[I, J])
{
var neighborIndex = indices[I, J];
double edgeCost = this.getEdgeLength(neighborIndex, current);
double newPotential = current.WeightingFactor + edgeCost;
if (!heap.Contains(neighborIndex))
{
neighborIndex.WeightingFactor = newPotential;
heap.Add(neighborIndex);
}
else
{
if (neighborIndex.WeightingFactor > newPotential)
{
heap.Remove(neighborIndex);
neighborIndex.WeightingFactor = newPotential;
heap.Add(neighborIndex);
}
}
}
}
}
heap = null;
marked = null;
foreach (var item in indices)
{
if (notVisibleCellIds.Contains(this._host.cellularFloor.Cells[item.I, item.J].ID))
{
item.WeightingFactor = notVisibleValue;
}
}
Dictionary <Cell, double> potentials = new Dictionary <Cell, double>();
foreach (var item in indices)
{
if (!double.IsInfinity(item.WeightingFactor))
{
double value_ = interpolation(item.WeightingFactor);
if (!double.IsInfinity(value_))
{
potentials.Add(this._host.cellularFloor.Cells[item.I, item.J], value_);
}
}
}
indices = null;
timer.Stop();
this.PotentialFieldGenerationTime = timer.Elapsed.TotalMilliseconds;
return(new Data.SpatialDataField(name, potentials));
}
/// <summary>
/// Calculates the activity (i.e. potential field) with respect to distance, static cost and angle.
/// </summary>
/// <param name="destination">The destination.</param>
/// <param name="destinationArea">The destination area.</param>
/// <param name="defaultState">The default state.</param>
/// <param name="name">The name.</param>
/// <param name="angleCost">The angle cost.</param>
/// <param name="radius">The radius.</param>
/// <returns>Activity.</returns>
/// <exception cref="System.ArgumentException">Negative cost for edge found: " + edgeCost.ToString() +
/// "\nP1: " +
/// this._cellularFloor.FindCell(current).Origin.ToString() + "\nP2: " + this._cellularFloor.FindCell(neighborIndex).Origin.ToString() +
/// "\nDistance: " + this._cellularFloor.FindCell(current).Origin.DistanceTo(this._cellularFloor.FindCell(neighborIndex).Origin).ToString()</exception>
public Activity GetDynamicActivity(Cell destination, BarrierPolygon destinationArea, StateBase defaultState, string name, double angleCost, double radius)
{
var timer = new System.Diagnostics.Stopwatch();
timer.Start();
//Calculating static costs
double distance_cost_factor = Parameter.DefaultParameters[AgentParameters.MAN_DistanceCost].Value;
if (distance_cost_factor < 0)
{
throw new ArgumentException("Parameter MAN_DistanceCost cannot have a negative value: " + distance_cost_factor.ToString());
}
Dictionary <Cell, double> costs = this._host.cellularFloor.GetStaticCost();
#region set the initial potential to positive infinity; define heap and labeled where the potential is zero;
SortedSet <WeightedIndex> heap = new SortedSet <WeightedIndex>();
WeightedIndex[,] indices = new WeightedIndex[this._host.cellularFloor.GridWidth, this._host.cellularFloor.GridHeight];
bool[,] marked = new bool[this._host.cellularFloor.GridWidth, this._host.cellularFloor.GridHeight];
UV[,] previousOrigins = new UV[this._host.cellularFloor.GridWidth, this._host.cellularFloor.GridHeight];
for (int i = 0; i < this._host.cellularFloor.GridWidth; i++)
{
for (int j = 0; j < this._host.cellularFloor.GridHeight; j++)
{
indices[i, j] = new WeightedIndex(i, j, double.PositiveInfinity);
}
}
indices[destination.CellToIndex.I, destination.CellToIndex.J].WeightingFactor = 0;
marked[destination.CellToIndex.I, destination.CellToIndex.J] = true;
heap.Add(indices[destination.CellToIndex.I, destination.CellToIndex.J]);
#endregion
var radiusSquared = radius * radius;
var target = this._host.cellularFloor.Cells[destination.CellToIndex.I, destination.CellToIndex.J];
while (heap.Count != 0)
{
var current = heap.Min;
heap.Remove(current);
marked[current.I, current.J] = true;
UV currentDirection = null;
if (previousOrigins[current.I, current.J] != null)
{
currentDirection = this._host.cellularFloor.Cells[current.I, current.J] - previousOrigins[current.I, current.J];
currentDirection.Unitize();
}
foreach (var item in this.Rays.Keys)
{
int I = current.I + item.I;
int J = current.J + item.J;
if (this._host.cellularFloor.ContainsCell(I, J) &&
this._host.cellularFloor.Cells[I, J].FieldOverlapState == OverlapState.Inside &&
!marked[I, J] &&
radiusSquared >= UV.GetLengthSquared(this._host.cellularFloor.Cells[I, J], target))
{
var neighborIndex = indices[I, J];
double edgeCost = this.getStaticCostOfEdge(neighborIndex, current, distance_cost_factor, costs);
if (edgeCost <= 0)
{
throw new ArgumentException("Negative cost for edge found: " + edgeCost.ToString() +
"\nP1: " +
this._host.cellularFloor.FindCell(current).ToString() + "\nP2: " + this._host.cellularFloor.FindCell(neighborIndex).ToString() +
"\nDistance: " + this._host.cellularFloor.FindCell(current).DistanceTo(this._host.cellularFloor.FindCell(neighborIndex)).ToString());
}
double newPotential = current.WeightingFactor + edgeCost;
if (currentDirection != null)
{
var newDirection = this._host.cellularFloor.Cells[current.I, current.J] - this._host.cellularFloor.Cells[I, J];
newDirection.Unitize();
double angle = Math.Abs(newDirection.AngleTo(currentDirection));
newPotential += angleCost * (Math.PI - Math.Abs(angle));
}
if (!heap.Contains(neighborIndex))
{
previousOrigins[neighborIndex.I, neighborIndex.J] = this._host.cellularFloor.Cells[current.I, current.J];
neighborIndex.WeightingFactor = newPotential;
heap.Add(neighborIndex);
}
else
{
if (neighborIndex.WeightingFactor > newPotential)
{
previousOrigins[neighborIndex.I, neighborIndex.J] = this._host.cellularFloor.Cells[current.I, current.J];
heap.Remove(neighborIndex);
neighborIndex.WeightingFactor = newPotential;
heap.Add(neighborIndex);
}
}
}
}
}
heap = null;
marked = null;
costs = null;
previousOrigins = null;
Dictionary <Cell, double> potentials = new Dictionary <Cell, double>();
foreach (var item in indices)
{
if (!double.IsInfinity(item.WeightingFactor))
{
potentials.Add(this._host.cellularFloor.Cells[item.I, item.J], item.WeightingFactor);
}
}
indices = null;
timer.Stop();
this.PotentialFieldGenerationTime = timer.Elapsed.TotalMilliseconds;
return(new Activity(potentials, new HashSet <Cell> {
destination
}, destinationArea, defaultState, name, this._host.cellularFloor));
}
/// <summary>
/// Gets the static potential field for training.
/// </summary>
/// <param name="destination">The destination.</param>
/// <param name="destinationArea">The destination area.</param>
/// <param name="defaultState">The default state.</param>
/// <param name="name">The name.</param>
/// <param name="trail">The trail.</param>
/// <returns>Activity.</returns>
/// <exception cref="System.ArgumentException">Negative cost for edge found: " + edgeCost.ToString() +
/// "\nP1: " +
/// this._cellularFloor.FindCell(current).Origin.ToString() + "\nP2: " + this._cellularFloor.FindCell(neighborIndex).Origin.ToString() +
/// "\nDistance: " + this._cellularFloor.FindCell(current).Origin.DistanceTo(this._cellularFloor.FindCell(neighborIndex).Origin).ToString()</exception>
public Activity GetStaticPotentialFieldForTraining(Cell destination, BarrierPolygon destinationArea, StateBase defaultState, string name, HashSet <Index> trail)
{
var timer = new System.Diagnostics.Stopwatch();
timer.Start();
//Calculating static costs
double distance_cost_factor = Parameter.DefaultParameters[AgentParameters.MAN_DistanceCost].Value;
if (distance_cost_factor < 0)
{
throw new ArgumentException("Parameter MAN_DistanceCost cannot have a negative value: " + distance_cost_factor.ToString());
}
Dictionary <Cell, double> costs = this._host.cellularFloor.GetStaticCost();
#region set the initial potential to positive infinity; define heap and labeled where the potential is zero;
SortedSet <WeightedIndex> heap = new SortedSet <WeightedIndex>();
WeightedIndex[,] indices = new WeightedIndex[this._host.cellularFloor.GridWidth, this._host.cellularFloor.GridHeight];
bool[,] marked = new bool[this._host.cellularFloor.GridWidth, this._host.cellularFloor.GridHeight];
for (int i = 0; i < this._host.cellularFloor.GridWidth; i++)
{
for (int j = 0; j < this._host.cellularFloor.GridHeight; j++)
{
indices[i, j] = new WeightedIndex(i, j, double.PositiveInfinity);
}
}
var destinations = new HashSet <Cell> {
destination
};
foreach (var item in destinations)
{
indices[item.CellToIndex.I, item.CellToIndex.J].WeightingFactor = 0;
marked[item.CellToIndex.I, item.CellToIndex.J] = true;
heap.Add(indices[item.CellToIndex.I, item.CellToIndex.J]);
}
#endregion
HashSet <Index> trailIndices = new HashSet <Index>(trail);
while (!(heap.Count == 0 || trailIndices.Count == 0))
{
var current = heap.Min;
heap.Remove(current);
marked[current.I, current.J] = true;
if (trailIndices.Contains(current))
{
trailIndices.Remove(current);
}
foreach (var item in this.Rays.Keys)
{
int I = current.I + item.I;
int J = current.J + item.J;
if (this._host.cellularFloor.ContainsCell(I, J) &&
this._host.cellularFloor.Cells[I, J].FieldOverlapState == OverlapState.Inside &&
!marked[I, J])
{
var neighborIndex = indices[I, J];
double edgeCost = this.getStaticCostOfEdge(neighborIndex, current, distance_cost_factor, costs);
if (edgeCost <= 0)
{
throw new ArgumentException("Negative cost for edge found: " + edgeCost.ToString() +
"\nP1: " +
this._host.cellularFloor.FindCell(current).ToString() + "\nP2: " + this._host.cellularFloor.FindCell(neighborIndex).ToString() +
"\nDistance: " + this._host.cellularFloor.FindCell(current).DistanceTo(this._host.cellularFloor.FindCell(neighborIndex)).ToString());
}
double newPotential = current.WeightingFactor + edgeCost;
if (!heap.Contains(neighborIndex))
{
neighborIndex.WeightingFactor = newPotential;
heap.Add(neighborIndex);
}
else
{
if (neighborIndex.WeightingFactor > newPotential)
{
heap.Remove(neighborIndex);
neighborIndex.WeightingFactor = newPotential;
heap.Add(neighborIndex);
}
}
}
}
}
heap = null;
marked = null;
costs = null;
Dictionary <Cell, double> potentials = new Dictionary <Cell, double>();
foreach (var item in indices)
{
if (!double.IsInfinity(item.WeightingFactor))
{
potentials.Add(this._host.cellularFloor.Cells[item.I, item.J], item.WeightingFactor);
}
}
indices = null;
timer.Stop();
this.PotentialFieldGenerationTime = timer.Elapsed.TotalMilliseconds;
return(new Activity(potentials, destinations, destinationArea, defaultState, name, this._host.cellularFloor));
}