/// <summary>
/// Targets the visibility test.
/// </summary>
/// <param name="currentState">The current state of the agent.</param>
/// <param name="visibilityCosineFactor">The visibility cosine factor.</param>
/// <param name="cellularFloor">The cellular floor.</param>
/// <returns>UV.</returns>
public UV TargetVisibilityTest(StateBase currentState, double visibilityCosineFactor, CellularFloorBaseGeometry cellularFloor)
{
var vantageCell = cellularFloor.FindCell(currentState.Location);
if (!this.AllVisibleCells.Contains(vantageCell.ID))
{
return(null);
}
UV target = null;
foreach (var cellID in this.ReferencedVantageCells[vantageCell.ID])
{
UV targetCell = cellularFloor.FindCell(cellID);
UV direction = targetCell - currentState.Location;
direction.Unitize();
if (direction.DotProduct(currentState.Direction) >= visibilityCosineFactor)
{
target = targetCell;
break;
}
}
return(target);
}
/// <summary>
/// Determines whether a visual the event is raised.
/// </summary>
/// <param name="currentState">The current state of the agent.</param>
/// <param name="visibilityCosineFactor">The visibility cosine factor.</param>
/// <param name="cellularFloor">The cellular floor.</param>
/// <returns><c>true</c> if visual the event is raised, <c>false</c> otherwise.</returns>
public bool VisualEventRaised(StateBase currentState, double visibilityCosineFactor, CellularFloorBaseGeometry cellularFloor)
{
var vantageCell = cellularFloor.FindCell(currentState.Location);
if (!this.AllVisibleCells.Contains(vantageCell.ID))
{
return(false);
}
bool raised = false;
foreach (var cellID in this.ReferencedVantageCells[vantageCell.ID])
{
UV targetCell = cellularFloor.FindCell(cellID);
UV direction = targetCell - currentState.Location;
direction.Unitize();
if (direction.DotProduct(currentState.Direction) >= visibilityCosineFactor)
{
raised = true;
break;
}
}
return(raised);
}
/// <summary>
/// Gets the boundary polygons of a collection of cells.
/// </summary>
/// <param name="cellIDs">The visible cells.</param>
/// <param name="cellularFloor">The cellular floor.</param>
/// <returns>List<BarrierPolygons>.</returns>
public static List <BarrierPolygon> GetBoundary(ICollection <int> cellIDs, CellularFloorBaseGeometry cellularFloor)
{
Dictionary <UVLine, int> guid = new Dictionary <UVLine, int>();
foreach (var item in cellIDs)
{
var lines = cellularFloor.CellToLines(cellularFloor.FindCell(item));
foreach (var line in lines)
{
if (guid.ContainsKey(line))
{
guid[line]++;
}
else
{
guid.Add(line, 1);
}
}
}
List <UVLine> boundaryLines = new List <UVLine>();
foreach (KeyValuePair <UVLine, int> item in guid)
{
if (item.Value == 1)
{
boundaryLines.Add(item.Key);
}
}
guid.Clear();
guid = null;
var plines = PLine.ExtractPLines(boundaryLines);
List <BarrierPolygon> boundary = new List <BarrierPolygon>();
foreach (PLine item in plines)
{
var oneBoundary = item.Simplify(cellularFloor.CellSize / 10);
if (oneBoundary != null)
{
boundary.Add(new BarrierPolygon(oneBoundary.ToArray()));
}
}
boundaryLines.Clear();
boundaryLines = null;
return(boundary);
}
/// <summary>
/// Creats an instance of the CollisionAnalyzer.
/// </summary>
/// <param name="point">The agent or target location</param>
/// <param name="cellularFloor">The CellularFloorBaseGeometry which includes the agent or target</param>
/// <param name="barrierType">Barrier type</param>
/// <returns>An instance of the CollisionAnalyzer which can be null</returns>
public static CollisionAnalyzer GetCollidingEdge(UV point, CellularFloorBaseGeometry cellularFloor, BarrierType barrierType)
{
Cell cell = cellularFloor.FindCell(point);
if (cell == null)
{
return(null);
}
switch (barrierType)
{
case BarrierType.Visual:
if (cell.VisualOverlapState == OverlapState.Inside)
{
return(null);
}
break;
case BarrierType.Physical:
if (cell.PhysicalOverlapState == OverlapState.Inside)
{
return(null);
}
break;
case BarrierType.Field:
if (cell.FieldOverlapState == OverlapState.Outside)
{
//cell.Visualize(MainDocument.TargetVisualizer, Cell.Size, Cell.Size, 0);
return(null);
}
break;
case BarrierType.BarrierBuffer:
return(null);
}
var colision = new CollisionAnalyzer(point, cell, cellularFloor, barrierType);
if (colision.Barrrier == null)
{
return(null);
}
return(colision);
}