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MASON is a fast discrete-event multiagent simulation library core in Java, designed to be the foundation for large custom-purpose Java simulations, and also to provide more than enough functionality for many lightweight simulation needs. MASON contains both a model library and an optional suite of visualization tools in 2D and 3D.
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/*
Copyright 2006 by Sean Luke and George Mason University
Licensed under the Academic Free License version 3.0
See the file "LICENSE" for more information
*/
package sim.app.woims3d;
import sim.util.*;
import sim.engine.*;
import sim.portrayal3d.*;
import sim.portrayal3d.simple.*;
import javax.media.j3d.*;
import javax.vecmath.*;
/**
This class demonstrates that it is perfectly POSSIBLE to create a SimplePortrayal3D
which is also a Steppable in the model -- but it's not a good idea, because it's not serializable
and so you can't save your model out to a checkpoint. In 3D, you should make separate portrayals
from model objects.
*/
public class Woim3D extends SimplePortrayal3D implements Steppable
{
private static final long serialVersionUID = 1;
public static final double CENTROID_DISTANCE = 20 * WoimsDemo3D.DIAMETER;
public static final double AVOID_DISTANCE = 16 * WoimsDemo3D.DIAMETER;
public static final double COPY_SPEED_DISTANCE = 40 * WoimsDemo3D.DIAMETER;
public static final double OBSTACLE_AVOID_COEF = 1.05;
public static final double OBSTACLE_FAST_AVOID_COEF = 1.5;
public static final double MAX_DISTANCE = Math.max( CENTROID_DISTANCE, Math.max( AVOID_DISTANCE, COPY_SPEED_DISTANCE ) );
public static final double ADJUSTMENT_RATE = 0.025;
public static final double MIN_VELOCITY = 0.25;
public static final double MAX_VELOCITY = 0.75;
public Woim3D()
{
ond = Math.random()*2*Math.PI;
ondSpeed = 0.05 + Math.random()*0.15;
for( int i = 0 ; i < colors.length ; i++ )
colors[i] = new java.awt.Color(63 + (int)(192*(colors.length-i)/colors.length),0,0);
//((float)(63f+(192.0*(colors.length-i))/colors.length)/255.0f, 0f, 0f );
velocity = new Vector3D(0.05,0.05, 0.05);
computePositions();
}
public final double distanceSquared( final Vector3D loc1, final Vector3D loc2 )
{
return( (loc1.x-loc2.x)*(loc1.x-loc2.x)+(loc1.y-loc2.y)*(loc1.y-loc2.y)+(loc1.z-loc2.z)*(loc1.z-loc2.z) );
}
public final double distanceSquared( final Vector3D loc1, final Double3D loc2 )
{
return( (loc1.x-loc2.x)*(loc1.x-loc2.x)+(loc1.y-loc2.y)*(loc1.y-loc2.y)+(loc1.z-loc2.z)*(loc1.z-loc2.z) );
}
public final double distanceSquared( final double x1, final double y1, final double z1, final double x2, final double y2, final double z2 )
{
return ((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) + (z1-z2)*(z1-z2));
}
Bag nearbyWoims;
double[] distSqrTo;
void preprocessWoims( final WoimsDemo3D state, Double3D pos, double distance )
{
nearbyWoims = state.woimEnvironment.getNeighborsWithinDistance( pos, distance );
/*
if( nearbyWoims == null )
return;
*/
distSqrTo = new double[nearbyWoims.numObjs];
for( int i = 0 ; i < nearbyWoims.numObjs ; i++ )
{
Woim3D p = (Woim3D)(nearbyWoims.objs[i]);
distSqrTo[i] = distanceSquared(
pos.x,pos.y,pos.z,p.x,p.y,p.z);
}
}
public Vector3D towardsFlockCenterOfMass( final WoimsDemo3D state )
{
if( nearbyWoims == null )
return new Vector3D( 0, 0, 0 );
Vector3D mean = new Vector3D( 0, 0, 0 );
int n = 0;
for( int i = 0 ; i < nearbyWoims.numObjs ; i++ )
{
if( nearbyWoims.objs[i] != this &&
distSqrTo[i] <= CENTROID_DISTANCE * CENTROID_DISTANCE &&
distSqrTo[i] > AVOID_DISTANCE * AVOID_DISTANCE )
{
Woim3D p = (Woim3D)(nearbyWoims.objs[i]);
mean = mean.add(new Double3D(p.x,p.y,p.z));
n++;
}
}
if( n == 0 )
return new Vector3D( 0, 0, 0 );
else
{
mean = mean.amplify( 1.0 / n );
mean = mean.subtract( woimPosition );
return mean.normalize();
}
}
public Vector3D awayFromCloseBys( final WoimsDemo3D state )
{
if( nearbyWoims == null )
return new Vector3D( 0, 0, 0 );
Vector3D away = new Vector3D( 0, 0, 0 );
for( int i = 0 ; i < nearbyWoims.numObjs ; i++ )
{
if( nearbyWoims.objs[i] != this &&
distSqrTo[i] <= AVOID_DISTANCE * AVOID_DISTANCE )
{
Woim3D p = (Woim3D)(nearbyWoims.objs[i]);
Vector3D temp = woimPosition.subtract(new Double3D(p.x,p.y,p.z));
temp = temp.normalize();
away = away.add( temp );
}
}
return away.normalize();
}
public Vector3D matchFlockSpeed( final SimState state )
{
if( nearbyWoims == null )
return new Vector3D( 0, 0, 0 );
Vector3D mean = new Vector3D( 0, 0, 0 );
int n = 0;
for( int i = 0 ; i < nearbyWoims.numObjs ; i++ )
{
if( nearbyWoims.objs[i] != this &&
distSqrTo[i] <= COPY_SPEED_DISTANCE * COPY_SPEED_DISTANCE &&
distSqrTo[i] > AVOID_DISTANCE * AVOID_DISTANCE )
{
mean = mean.add( ((Woim3D)(nearbyWoims.objs[i])).velocity );
n++;
}
}
if( n == 0 )
return new Vector3D( 0, 0, 0 );
else
{
mean = mean.amplify( 1.0 / n );
return mean.normalize();
}
}
public Vector3D randomDirection( final SimState state )
{
Vector3D temp = new Vector3D( 1.0 - 2.0 * state.random.nextDouble(),
1.0 - 2.0 * state.random.nextDouble(),
1.0 - 2.0 * state.random.nextDouble() );
return temp.setLength( MIN_VELOCITY + state.random.nextDouble()*(MAX_VELOCITY-MIN_VELOCITY) );
}
double ond;
double ondSpeed;
public Vector3D niceUndulation( final SimState state )
{
ond += ondSpeed;
if( ond > 7 )
ond -= 2*Math.PI;
double angle = Math.cos( ond );
Vector3D temp = velocity;
double velA = Math.atan2( temp.y, temp.x );
velA = velA + (Math.PI / 2)*angle;
return new Vector3D( Math.cos(velA), Math.sin(velA), 0 );
}
public Vector3D avoidObstacles( final SimState state )
{
double[][] info = WoimsDemo3D.obstInfo;
if( info == null || info.length == 0 )
return new Vector3D( 0, 0, 0 );
Vector3D away = new Vector3D( 0, 0, 0 );
for( int i = 0 ; i < info.length ; i++ )
{
double dist = Math.sqrt( (woimPosition.x-info[i][1])*(woimPosition.x-info[i][1]) +
(woimPosition.y-info[i][2])*(woimPosition.y-info[i][2]) +
(woimPosition.z-info[i][3])*(woimPosition.z-info[i][3]) );
if( dist <= info[i][0]+AVOID_DISTANCE )
{
Vector3D temp = woimPosition.subtract( new Vector3D( info[i][1], info[i][2], info[i][3] ) );
temp = temp.normalize();
away = away.add( temp );
}
}
return away.normalize();
}
protected Vector3D woimPosition = new Vector3D( 0, 0, 0 );
public void step( final SimState state )
{
WoimsDemo3D bd = (WoimsDemo3D)state;
{
Double3D temp = new Double3D(x,y,z);
woimPosition.x = x;
woimPosition.y = y;
woimPosition.z = z;
preprocessWoims( bd, temp, MAX_DISTANCE );
}
Vector3D vel = new Vector3D( 0, 0, 0 );
vel = vel.add( avoidObstacles(bd).amplify( 1.5 ) );
vel = vel.add( towardsFlockCenterOfMass(bd).amplify(0.5) );
vel = vel.add( matchFlockSpeed(bd).amplify(0.5) );
vel = vel.add( awayFromCloseBys(bd).amplify(1.5) );
if( vel.length() <= 1.0 )
{
vel = vel.add( niceUndulation(bd).amplify(0.5) );
vel = vel.add( randomDirection(bd).amplify(0.25) );
}
double vl = vel.length();
if( vl < MIN_VELOCITY )
vel = vel.setLength( MIN_VELOCITY );
else if( vl > MAX_VELOCITY )
vel = vel.setLength( MAX_VELOCITY );
vel = new Vector3D( (1-ADJUSTMENT_RATE)*velocity.x + ADJUSTMENT_RATE*vel.x,
(1-ADJUSTMENT_RATE)*velocity.y + ADJUSTMENT_RATE*vel.y,
(1-ADJUSTMENT_RATE)*velocity.z + ADJUSTMENT_RATE*vel.z );
velocity = vel;
Double3D desiredPosition = new Double3D( woimPosition.x+vel.x*WoimsDemo3D.TIMESTEP,
woimPosition.y+vel.y*WoimsDemo3D.TIMESTEP,
woimPosition.z+vel.z*WoimsDemo3D.TIMESTEP );
bd.setObjectLocation( this, desiredPosition );
}
public double x;
public double y;
public double z;
final static int numLinks = 12;
Vector3d[] lastPos = new Vector3d[numLinks];
Vector3d[] lastPosRel = new Vector3d[numLinks];
java.awt.Color[] colors = new java.awt.Color[numLinks];
protected double orientation;
protected Vector3D velocity = new Vector3D( 0, 0, 0 );
protected Vector3D acceleration = new Vector3D( 0, 0, 0 );
public static final float SKIP = 4.0f;
public void computePositions()
{
double centerx, centery, centerz;
// the head!
centerx = x + 1.0/2.0;
centery = y + 1.0/2.0;
centerz = z + 1.0/2.0;
lastPos[0] = new Vector3d( centerx, centery, centerz );
Vector3d temp = new Vector3d();
Vector3d velocity3d = new Vector3d(velocity.x, velocity.y, velocity.z);
for( int i = 1 ; i < numLinks ; i++ )
{
if( lastPos[i] == null )
{
temp.scale(-1.0, velocity3d);
temp.normalize();
centerx = lastPos[i-1].x+temp.x;
centery = lastPos[i-1].y+temp.y;
centerz = lastPos[i-1].z+temp.z;
lastPos[i] = new Vector3d( centerx, centery, centerz );
}
else
{
temp.sub(lastPos[i-1], lastPos[i] );
temp.scale(SKIP/temp.length());
temp.sub(lastPos[i-1], temp);
lastPos[i] = new Vector3d( temp.x, temp.y, temp.z );
}
}
for( int i = 0 ; i < lastPosRel.length ; i++ )
{
lastPosRel[i] = new Vector3d( lastPos[i].x-lastPos[0].x,
lastPos[i].y-lastPos[0].y,
lastPos[i].z-lastPos[0].z );
}
}
public TransformGroup createModel(Object obj)
{
TransformGroup globalTG = new TransformGroup();
for(int i=0; i< numLinks; ++i)
{
// we set the number of divisions to 6 and it's quite a bit faster and
// less memory-hungry. The default is 15. This is a sort of goofy way of
// doing things.
SpherePortrayal3D s = new SpherePortrayal3D(colors[i], 4.0f , 6);
s.setCurrentFieldPortrayal(getCurrentFieldPortrayal());
TransformGroup localTG = s.getModel(obj, null);
localTG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
globalTG.addChild(localTG);
}
globalTG.setCapability(TransformGroup.ALLOW_CHILDREN_READ);
return globalTG;
}
public TransformGroup getModel(Object obj, TransformGroup transf)
{
computePositions();
if(transf==null) return createModel(obj);
for(int i=0; i© 2015 - 2025 Weber Informatics LLC | Privacy Policy