alchemist/it.unibo.alchemist.model.interfaces.environments/EuclideanPhysics2DEnvironmentWithGraph

EuclideanPhysics2DEnvironmentWithGraph

interface EuclideanPhysics2DEnvironmentWithGraph<W : Obstacle2D<Euclidean2DPosition>, T, N : Euclidean2DConvexShape, E> : Euclidean2DEnvironmentWithGraph<W, T, N, E> , EuclideanPhysics2DEnvironmentWithObstacles<W, T> , PhysicsEnvironmentWithGraph<W, T, Euclidean2DPosition, Euclidean2DTransformation, N, E, Euclidean2DShapeFactory>

An Euclidean2DEnvironmentWithGraph supporting physics.

Functions

abstract fun addLayer(p0: Molecule, p1: Layer<T, Euclidean2DPosition>)

abstract fun addNode(p0: Node<T>, p1: Euclidean2DPosition)

abstract fun addObstacle(obstacle: W)

abstract fun addTerminator(p0: Predicate<Environment<T, Euclidean2DPosition>>)

farthestPositionReachable

abstract fun farthestPositionReachable(node: NodeWithShape<T, *, *>, desiredPosition: Euclidean2DPosition, hitboxRadius: Double = node.shape.radius): Euclidean2DPosition

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

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

Gets the heading of a node as a direction vector.

abstract fun getIncarnation(): Optional<Incarnation<T, Euclidean2DPosition>>

abstract fun getLayer(p0: Molecule): Optional<Layer<T, Euclidean2DPosition>>

abstract fun getLayers(): ListSet<Layer<T, Euclidean2DPosition>>

abstract fun getLinkingRule(): LinkingRule<T, Euclidean2DPosition>

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: GeometricShape<Euclidean2DPosition, Euclidean2DTransformation>): List<Node<T>>

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

getNodesWithinRange

abstract fun getNodesWithinRange(p0: Euclidean2DPosition, p1: Double): ListSet<Node<T>>

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

getObstaclesInRange

abstract fun getObstaclesInRange(center: Euclidean2DPosition, range: Double): List<W>

abstract fun getObstaclesInRange(centerx: Double, centery: Double, range: Double): List<W>

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

abstract fun getOffset(): DoubleArray

abstract fun getPosition(p0: Node<T>): Euclidean2DPosition

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

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

abstract fun getSimulation(): Simulation<T, Euclidean2DPosition>

abstract fun getSize(): DoubleArray

getSizeInDistanceUnits

abstract fun getSizeInDistanceUnits(): DoubleArray

hasMobileObstacles

abstract fun hasMobileObstacles(): Boolean

intersectsObstacle

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

abstract fun isTerminated(): Boolean

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

abstract fun makePosition(vararg p0: Number): Euclidean2DPosition

abstract fun makePosition(vararg coordinates: Double): Euclidean2DPosition

open fun makePosition(x: Double, y: Double): Euclidean2DPosition

Creates a new Euclidean2DPosition.

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

moveNodeToPosition

abstract fun moveNodeToPosition(p0: Node<T>, p1: Euclidean2DPosition)

abstract fun next(current: Euclidean2DPosition, desired: Euclidean2DPosition): Euclidean2DPosition

abstract fun removeNode(p0: Node<T>)

abstract fun removeObstacle(obstacle: W): Boolean

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

Sets the heading of a node.

abstract fun setLinkingRule(p0: LinkingRule<T, Euclidean2DPosition>)

abstract fun setSimulation(p0: Simulation<T, Euclidean2DPosition>)

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

Properties

abstract val graph: NavigationGraph<Euclidean2DPosition, Euclidean2DTransformation, N, E>

The navigation graph.

abstract val obstacles: List<W>

open val origin: Euclidean2DPosition

abstract val shapeFactory: Euclidean2DShapeFactory

A factory of shapes compatible with this environment.

Inheritors

ImageEnvironmentWithGraph