alchemist-physics/it.unibo.alchemist.model.physics.environments/PhysicsEnvironmentWithObstacles

PhysicsEnvironmentWithObstacles

interface PhysicsEnvironmentWithObstacles<W : Obstacle<P>, T, P : Position<P>, Vector<P>, A : Transformation<P>, N : ConvexShape<P, A>, E, F : GeometricShapeFactory<P, A>> : EnvironmentWithGraph<W, T, P, A, N, E> , PhysicsEnvironment<T, P, A, F> (source)

An EnvironmentWithGraph supporting physics.

Inheritors

EuclideanPhysics2DEnvironmentWithGraph

Properties

abstract val graph: NavigationGraph<P, A, N, E>

abstract val obstacles: List<W>

open val origin: P

abstract val shapeFactory: F

A factory of shapes compatible with this environment.

Functions

addGlobalReaction

abstract fun addGlobalReaction(p0: GlobalReaction<T>)

abstract fun addLayer(p0: Molecule, p1: Layer<T, P>)

abstract fun addNode(p0: Node<T>, p1: P): Boolean

abstract fun addObstacle(obstacle: W)

abstract fun addTerminator(p0: Predicate<Environment<T, P>>)

farthestPositionReachable

abstract fun farthestPositionReachable(node: Node<T>, desiredPosition: P, hitboxRadius: Double = getShape(node).radius): P

Computes the farthest position reachable by a node towards a desiredPosition, avoiding node overlapping. If no node is located in between, desiredPosition is returned. Otherwise, the first position where the node collides with someone else is returned. For collision purposes, hitboxes are used: each node is given a circular hitbox of radius equal to its shape's radius (shapeless nodes can't cause overlapping). The client can specify a different radius for the hitbox of the moving node.

open fun forEach(p0: Consumer<in Node<T>>)

abstract fun getDimensions(): Int

getDistanceBetweenNodes

abstract fun getDistanceBetweenNodes(p0: Node<T>, p1: Node<T>): Double

getGlobalReactions

abstract fun getGlobalReactions(): ListSet<GlobalReaction<T>>

abstract fun getHeading(node: Node<T>): P

Gets the heading of a node as a direction vector.

@Nonnull

abstract fun getIncarnation(): Incarnation<T, P>

abstract fun getLayer(p0: Molecule): Optional<Layer<T, P>>

abstract fun getLayers(): ListSet<Layer<T, P>>

abstract fun getLinkingRule(): LinkingRule<T, P>

getNeighborhood

abstract fun getNeighborhood(p0: Node<T>): Neighborhood<T>

abstract fun getNodeByID(p0: Int): Node<T>

abstract fun getNodeCount(): Int

abstract fun getNodes(): ListSet<Node<T>>

abstract fun getNodesWithin(shape: Shape<P, A>): List<Node<T>>

Gets all nodes whose shape.intersect is true for the given shape.

getNodesWithinRange

abstract fun getNodesWithinRange(p0: P, p1: Double): ListSet<Node<T>>

abstract fun getNodesWithinRange(p0: Node<T>, p1: Double): ListSet<Node<T>>

abstract fun getOffset(): DoubleArray

@Nonnull

abstract fun getPosition(p0: Node<T>): P

abstract fun getShape(node: Node<T>): Shape<P, A>

Gets the shape of a node relatively to its position and heading in the environment.

abstract fun getSimulation(): Simulation<T, P>

abstract fun getSize(): DoubleArray

getSizeInDistanceUnits

abstract fun getSizeInDistanceUnits(): DoubleArray

intersectsObstacle

abstract fun intersectsObstacle(start: P, end: P): Boolean

abstract fun isTerminated(): Boolean

abstract operator override fun iterator(): MutableIterator<Node<T>>

abstract fun makePosition(vararg p0: Number): P

abstract fun makePosition(vararg coordinates: Double): P

open fun moveNode(node: Node<T>, direction: P)

moveNodeToPosition

@Nonnull

abstract fun moveNodeToPosition(@Nonnull p0: Node<T>, @Nonnull p1: P)

abstract fun next(current: P, desired: P): P

removeGlobalReaction

abstract fun removeGlobalReaction(p0: GlobalReaction<T>)

abstract fun removeNode(p0: Node<T>)

abstract fun removeObstacle(obstacle: W): Boolean

abstract fun setHeading(node: Node<T>, direction: P)

Sets the heading of a node.

abstract fun setLinkingRule(p0: LinkingRule<T, P>)

abstract fun setSimulation(p0: Simulation<T, P>)

open fun spliterator(): Spliterator<Node<T>>