alchemist/it.unibo.alchemist.model.implementations.environments/Continuous2DObstacles

Continuous2DObstacles

open class Continuous2DObstacles<T> : LimitedContinuos2D<T> , EuclideanPhysics2DEnvironmentWithObstacles<RectObstacle2D<Euclidean2DPosition>, T>

Parameters

<T>

concentration type

Constructors

Continuous2DObstacles

open fun Continuous2DObstacles(incarnation: Incarnation<T, Euclidean2DPosition>)

Functions

addLayer

fun addLayer(m: Molecule, l: Layer<T, P>)

addNode

fun addNode(node: Node<T>, p: P)

addObstacle

fun addObstacle(@Nonnull o: RectObstacle2D<Euclidean2DPosition>)

addTerminator

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

farthestPositionReachable

open fun farthestPositionReachable(node: NodeWithShape<T, out Any, out Any>, desiredPosition: Euclidean2DPosition, hitboxRadius: Double): Euclidean2DPosition

node.

abstract fun farthestPositionReachable(node: NodeWithShape<T, out Any, out Any>, desiredPosition: P, hitboxRadius: Double): P

Computes the farthest position reachable by a node towards a desiredPosition, avoiding node overlapping.

forEach

fun forEach(action: Consumer<out Any>)

getDimensions

fun getDimensions(): Int

getDistanceBetweenNodes

fun getDistanceBetweenNodes(n1: Node<T>, n2: Node<T>): Double

getHeading

open fun getHeading(node: Node<T>): Euclidean2DPosition

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

Gets the heading of a node as a direction vector.

getIncarnation

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

getLayer

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

getLayers

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

getLinkingRule

fun getLinkingRule(): LinkingRule<T, P>

getNeighborhood

fun getNeighborhood(center: Node<T>): Neighborhood<T>

getNodeByID

fun getNodeByID(id: Int): Node<T>

getNodeCount

fun getNodeCount(): Int

getNodes

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

getNodesWithin

open fun getNodesWithin(shape: GeometricShape<Euclidean2DPosition, Euclidean2DTransformation>): List<Node<T>>

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

getNodesWithinRange

fun getNodesWithinRange(center: Node<T>, range: Double): ListSet<Node<T>>

getObstacles

@Nonnull

fun getObstacles(): List<RectObstacle2D<Euclidean2DPosition>>

getObstaclesInRange

fun getObstaclesInRange(@Nonnull center: Euclidean2DPosition, range: Double): List<RectObstacle2D<Euclidean2DPosition>>

@Nonnull

fun getObstaclesInRange(centerx: Double, centery: Double, range: Double): List<RectObstacle2D<Euclidean2DPosition>>

Given a point and a range, retrieves all the obstacles within.

getOffset

fun getOffset(): Array<Double>

getOrigin

open fun getOrigin(): Euclidean2DPosition

open fun getOrigin(): P

getPosition

fun getPosition(node: Node<T>): P

getShape

open fun getShape(node: Node<T>): GeometricShape<Euclidean2DPosition, Euclidean2DTransformation>

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

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

getShapeFactory

open fun getShapeFactory(): Euclidean2DShapeFactory

abstract fun getShapeFactory(): F

A factory of shapes compatible with this environment.

getSimulation

fun getSimulation(): Simulation<T, P>

getSize

fun getSize(): Array<Double>

getSizeInDistanceUnits

open fun getSizeInDistanceUnits(): Array<Double>

hasMobileObstacles

open fun hasMobileObstacles(): Boolean

Subclasses dealing with mobile obstacles may change this.

intersectsObstacle

fun intersectsObstacle(start: Euclidean2DPosition, end: Euclidean2DPosition): Boolean

isTerminated

fun isTerminated(): Boolean

iterator

fun iterator(): Iterator<Node<T>>

abstract fun iterator(): Iterator<T>

makePosition

open fun makePosition(coordinates: Array<Number>): Euclidean2DPosition

Creates an euclidean position from the given coordinates.

abstract fun makePosition(p: Array<Number>): P

moveNode

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

moveNodeToPosition

open fun moveNodeToPosition(node: Node<T>, newpos: P)

open fun moveNodeToPosition(node: Node<T>, newPosition: Euclidean2DPosition)

open fun moveNodeToPosition(node: Node<T>, newPos: Euclidean2DPosition)

Moves the node to the farthestPositionReachable towards the desired newPosition.

@Nonnull

fun next(@Nonnull current: Euclidean2DPosition, @Nonnull desired: Euclidean2DPosition): Euclidean2DPosition

fun next(ox: Double, oy: Double, nx: Double, ny: Double): Euclidean2DPosition

This method must calculate the ABSOLUTE next allowed position given the current position and the position in which the node wants to move.

removeNode

fun removeNode(node: Node<T>)

removeObstacle

fun removeObstacle(@Nonnull o: RectObstacle2D<Euclidean2DPosition>): Boolean

setHeading

open fun setHeading(node: Node<T>, direction: Euclidean2DPosition)

Sets the heading of a node.

setLinkingRule

fun setLinkingRule(r: LinkingRule<T, P>)

setSimulation

fun setSimulation(s: Simulation<T, P>)

spliterator

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

open fun spliterator(): Spliterator<T>

toString

open fun toString(): String

Inheritors

ImageEnvironment