internal void mergeGroups(Agent agent1, Agent agent2)
{
if (agent1.groupBelongingTo_ == null && agent2.groupBelongingTo_ == null)
{
// Create new group
GroupAgent group = new GroupAgent(this);
group.agents_.Add(agent1);
group.agents_.Add(agent2);
agent1.groupBelongingTo_ = group;
agent2.groupBelongingTo_ = group;
groupAgents_.Add(group);
}
else if (agent1.groupBelongingTo_ == null)
{
agent1.groupBelongingTo_ = agent2.groupBelongingTo_;
agent2.groupBelongingTo_.agents_.Add(agent1);
}
else if (agent2.groupBelongingTo_ == null)
{
agent2.groupBelongingTo_ = agent1.groupBelongingTo_;
agent1.groupBelongingTo_.agents_.Add(agent2);
}
else if (agent1.groupBelongingTo_ != agent2.groupBelongingTo_)
{
// Merge groups
IList <Agent> agentsList2 = agent2.groupBelongingTo_.agents_;
foreach (Agent a in agentsList2)
{
Agent agent = a;
agent.groupBelongingTo_ = agent1.groupBelongingTo_;
agent1.groupBelongingTo_.agents_.Add(agent);
}
agentsList2.Clear();
}
}
public IList <int> getGroupMembers(GroupAgent ga)
{
IList <Agent> groupAgents = ga.getAgents();
IList <int> toReturn = new List <int>();
foreach (Agent a in groupAgents)
{
toReturn.Add(a.id_);
}
return(toReturn);
}
public void unitTests()
{
// Test Compute tangents Points
setAgentDefaults(15.0f, 10, 1.0f, 10.0f, 0.5f, 2.0f, new Vector2());
addAgent(new Vector2(-1, 1), 0, true, true);
addAgent(new Vector2(0, 1), 0, true, true);
setAgentRadius(1, 1.0f);
addAgent(new Vector2(0, 0), 0, true, true);
addAgent(new Vector2(1, 2), 0, true, true);
addAgent(new Vector2(1, 0), 0, true, true);
GroupAgent group = new GroupAgent(this);
Pair <Vector2, Vector2> p1 = group.computeTangentsPoints(getAgent(0), getAgent(1));
Pair <Vector2, Vector2> p2 = group.computeTangentsPoints(getAgent(2), getAgent(1));
Pair <Vector2, Vector2> p3 = group.computeTangentsPoints(getAgent(3), getAgent(1));
Pair <Vector2, Vector2> p4 = group.computeTangentsPoints(getAgent(4), getAgent(1));
Pair <Vector2, Vector2> p5 = group.computeTangentsPoints(getAgent(1), getAgent(0));
Pair <Vector2, Vector2> p6 = group.computeTangentsPoints(getAgent(1), getAgent(2));
Pair <Vector2, Vector2> p7 = group.computeTangentsPoints(getAgent(1), getAgent(3));
Pair <Vector2, Vector2> p8 = group.computeTangentsPoints(getAgent(1), getAgent(4));
Console.Write("Compute Tangents Points\n");
Console.Write("T1" + p1.First + "Expected ~(-1,0.5) - T2" + p1.Second + "Expected ~(-1,1.5)\n");
Console.Write("T1" + p2.First + "Expected ~(0.5,0) - T2" + p2.Second + "Expected ~(-0.5,0)\n");
Console.Write("T1" + p3.First + "Expected ~(0.64,2.35) - T2" + p3.Second + "Expected ~(1.35,1.64)\n");
Console.Write("T1" + p4.First + "Expected ~(1.35,0.35) - T2" + p4.Second + "Expected ~(0.64,-0.35)\n\n");
Console.Write("T1" + p5.First + "Expected ~(0,1.5) - T2" + p5.Second + "Expected ~(0,0.5)\n");
Console.Write("T1" + p6.First + "Expected ~(-0.5,1) - T2" + p6.Second + "Expected ~(0.5,1)\n");
Console.Write("T1" + p7.First + "Expected ~(0.35,0.64) - T2" + p7.Second + "Expected ~(-0.35,1.35)\n");
Console.Write("T1" + p8.First + "Expected ~(-0.35,0.64) - T2" + p8.Second + "Expected ~(0.35,1.35)\n\n");
// Test detect groups
setAgentRadius(1, 0.5f);
addAgent(new Vector2(1, 0), 0, true, true);
setAgentPosition(0, new Vector2(0.0f, 3 * getDefaultRadius()));
setAgentPosition(1, new Vector2(0.0f, 0.0f));
setAgentPosition(2, new Vector2(-5 * getDefaultRadius(), 0.0f));
setAgentPosition(3, new Vector2(-5 * getDefaultRadius(), -3 * getDefaultRadius()));
setAgentPosition(4, new Vector2(3 * getDefaultRadius(), 0.0f));
setAgentPosition(5, new Vector2(6 * getDefaultRadius(), 0.0f));
setAgentVelocity(0, new Vector2(0.87f, 0.0f));
setAgentVelocity(1, new Vector2(1.0f, 0.0f));
setAgentVelocity(2, new Vector2(0.93f, 0.0f));
setAgentVelocity(3, Vector2.rotation(new Vector2(0.93f, 0.0f), (float)Math.PI / 6 + 0.1f));
setAgentVelocity(4, Vector2.rotation(new Vector2(0.93f, 0.0f), (float)Math.PI / 6 - 0.1f));
setAgentVelocity(5, Vector2.rotation(new Vector2(0.87f, 0.0f), 2 * ((float)Math.PI / 6 - 0.1f)));
detectGroups(false);
Console.Write("Detect Groups\n");
for (int i = 0; i < agents_.Count; i++)
{
Console.Write("Agent:" + i + " Address:" + agents_[i] + " group:" + agents_[i].groupBelongingTo_ + "\n");
}
GroupAgent group1 = agents_[1].groupBelongingTo_;
Console.Write("\n Group1 : Agents = ");
for (int i = 0; i < group1.agents_.Count; i++)
{
Console.Write(group1.agents_[i] + " ");
}
Console.Write("\n\n");
// Test Represent group
setAgentVelocity(0, new Vector2(1, 0));
detectGroups(false);
Console.Write("Detect Groups\n");
for (int i = 0; i < agents_.Count; i++)
{
Console.Write("Agent:" + i + " Address:" + agents_[i] + " group:" + agents_[i].groupBelongingTo_ + "\n");
}
group1 = agents_[1].groupBelongingTo_;
Console.Write("\n Group1 : Agents = ");
for (int i = 0; i < group1.agents_.Count; i++)
{
Console.Write(group1.agents_[i] + " ");
}
Console.Write("\n\n");
addAgent(new Vector2(3, 3), 0, true, true);
SuperAgent sa = group1.RepresentGroup(agents_.Last());
Console.Write("Represent group\n");
Console.Write("Position: " + sa.position_ + ". Velocity: " + sa.velocity_ + ". Radius: " + sa.radius_ + "\n");
setAgentPosition(agents_.Count - 1, new Vector2(2, 1.5f));
sa = group1.RepresentGroup(agents_.Last());
Console.Write("Position: " + sa.position_ + ". Velocity: " + sa.velocity_ + ". Radius: " + sa.radius_ + "\n");
setAgentPosition(agents_.Count - 1, new Vector2(0.75f, 0.75f));
sa = group1.RepresentGroup(agents_.Last());
Console.Write("Position: " + sa.position_ + ". Velocity: " + sa.velocity_ + ". Radius: " + sa.radius_ + "\n");
}
/**
* <summary>Computes the interaction between this agent and all the others agents.</summary>
*/
public void interactWithAgents()
{
IList <GroupAgent> groups = new List <GroupAgent>();
for (int i = 0; i < agentNeighbors_.Count; ++i)
{
Agent neighbor = agentNeighbors_[i].Value;
if (considerGroups_)
{
bool present = false;
GroupAgent agentGroup = neighbor.groupBelongingTo_;
// If the agent does not belong to any group or if it belongs to the same group, interact with it
if (agentGroup == null || agentGroup == groupBelongingTo_)
{
interactWith(neighbor);
}
// Otherwise, add its group to the list of the groups to interact with
else
{
foreach (GroupAgent g in groups)
{
if (agentGroup == g)
{
present = true;
}
}
// If the group has not been selected yet, add it to the group list
if (!present)
{
groups.Add(agentGroup);
}
}
}
else
{
interactWith(neighbor);
}
}
// Interact with each group of the list
for (int i = 0; i < groups.Count; ++i)
{
GroupAgent group = groups[i];
// If the group's representation succeded, interact with it
SuperAgent groupRepresentation = group.representGroup(this);
if (groupRepresentation.sim_ != null)
{
interactWith(groupRepresentation);
}
// Otherwise, interact with each agent of the group
else
{
IList <Agent> agentsOfTheGroup = group.getAgents();
foreach (Agent a in agentsOfTheGroup)
{
interactWith(a);
}
}
}
}
