io.github.ericmedvet.mrsim2d.buildable.builders.VSRSensorizingFunctions Maven / Gradle / Ivy

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Buildable (based on jnb) components of 2D-MR-Sim.
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/*-
 * ========================LICENSE_START=================================
 * mrsim2d-buildable
 * %%
 * Copyright (C) 2020 - 2024 Eric Medvet
 * %%
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 * =========================LICENSE_END==================================
 */

package io.github.ericmedvet.mrsim2d.buildable.builders;

import io.github.ericmedvet.jnb.core.Discoverable;
import io.github.ericmedvet.jnb.core.Param;
import io.github.ericmedvet.jnb.datastructure.Grid;
import io.github.ericmedvet.mrsim2d.core.Sensor;
import io.github.ericmedvet.mrsim2d.core.bodies.Voxel;
import java.util.ArrayList;
import java.util.Comparator;
import java.util.List;
import java.util.function.Function;

@Discoverable(prefixTemplate = "sim|s.agent|a.vsr.sensorizingFunction|sf")
public class VSRSensorizingFunctions {
  private VSRSensorizingFunctions() {}

  @SuppressWarnings("unused")
  public static Function, Grid>>> directional(
      @Param(value = "nSensors") List> nSensors,
      @Param(value = "eSensors") List> eSensors,
      @Param(value = "sSensors") List> sSensors,
      @Param(value = "wSensors") List> wSensors,
      @Param(value = "headSensors") List> headSensors) {
    return shape -> Grid.create(shape.w(), shape.h(), (Integer x, Integer y) -> {
      if (!shape.get(x, y)) {
        return null;
      }
      int maxX = shape.entries().stream()
          .filter(e -> e.key().y() == y && e.value())
          .mapToInt(e -> e.key().x())
          .max()
          .orElse(0);
      int minX = shape.entries().stream()
          .filter(e -> e.key().y() == y && e.value())
          .mapToInt(e -> e.key().x())
          .min()
          .orElse(0);
      Grid.Key headKey = shape.entries().stream()
          .filter(Grid.Entry::value)
          .sorted(Comparator.comparingInt(e -> -e.key().x() - e.key().y()))
          .limit(1)
          .toList()
          .getFirst()
          .key();
      List> localSensors = new ArrayList<>();
      if (x == maxX) {
        localSensors.addAll(eSensors);
      }
      if (x == minX) {
        localSensors.addAll(wSensors);
      }
      if (y == 0) {
        localSensors.addAll(sSensors);
      }
      if (y == shape.h() - 1) {
        localSensors.addAll(nSensors);
      }
      if (x == headKey.x() && y == headKey.y()) {
        localSensors.addAll(headSensors);
      }
      return localSensors;
    });
  }

  @SuppressWarnings("unused")
  public static Function, Grid>>> empty() {
    return shape -> shape.map(b -> List.of());
  }

  @SuppressWarnings("unused")
  public static Function, Grid>>> uniform(
      @Param(value = "sensors") List> sensors) {
    return shape -> shape.map(b -> sensors);
  }
}