37.0.1

alchemist-physics/it.unibo.alchemist.model.physics.environments/EuclideanPhysics2DEnvironmentWithGraph

EuclideanPhysics2DEnvironmentWithGraph

An Euclidean2DEnvironmentWithGraph supporting physics.

Properties

abstract val dimensions: Int

globalReactions

abstract val globalReactions: ListSet<GlobalReaction<T>>

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

abstract val incarnation: Incarnation<T, Euclidean2DPosition>

abstract val isTerminated: Boolean

abstract val layers: ListSet<Layer<T, Euclidean2DPosition>>

abstract var linkingRule: LinkingRule<T, Euclidean2DPosition>

abstract val nodeCount: Int

abstract val nodes: ListSet<Node<T>>

abstract val obstacles: List<W>

abstract val offset: DoubleArray

open val origin: Euclidean2DPosition

abstract val shapeFactory: Euclidean2DShapeFactory

A factory of shapes compatible with this environment.

abstract var simulation: Simulation<T, Euclidean2DPosition>

simulationOrNull

abstract val simulationOrNull: Simulation<T, Euclidean2DPosition>?

abstract val size: DoubleArray

sizeInDistanceUnits

abstract val sizeInDistanceUnits: DoubleArray

Functions

addGlobalReaction

abstract fun addGlobalReaction(reaction: GlobalReaction<T>)

abstract fun addLayer(molecule: Molecule, layer: Layer<T, Euclidean2DPosition>)

abstract fun addNode(node: Node<T>, position: Euclidean2DPosition): Boolean

abstract fun addObstacle(obstacle: W)

abstract fun addTerminator(terminator: TerminationPredicate<T, Euclidean2DPosition>)

open fun addTerminator(terminator: (Environment<T, Euclidean2DPosition>) -> Boolean)

farthestPositionReachable

abstract fun farthestPositionReachable(node: Node<T>, desiredPosition: Euclidean2DPosition, hitboxRadius: Double = getShape(node).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.

getDistanceBetweenNodes

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

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

Gets the heading of a node as a direction vector.

abstract fun getLayer(molecule: Molecule): Layer<T, Euclidean2DPosition>?

getNeighborhood

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

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

abstract fun getNodesWithin(shape: Shape<Euclidean2DPosition, Euclidean2DTransformation>): List<Node<T>>

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

getNodesWithinRange

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

abstract fun getNodesWithinRange(position: Euclidean2DPosition, range: 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>

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

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

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

hasMobileObstacles

abstract fun hasMobileObstacles(): Boolean

intersectsObstacle

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

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

abstract fun makePosition(vararg coordinates: Number): Euclidean2DPosition

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

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

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

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

moveNodeToPosition

abstract fun moveNodeToPosition(node: Node<T>, position: Euclidean2DPosition)

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

removeGlobalReaction

abstract fun removeGlobalReaction(reaction: GlobalReaction<T>)

abstract fun removeNode(node: Node<T>)

abstract fun removeObstacle(obstacle: W): Boolean

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

Sets the heading of a node.