it.unibo.alchemist.model.cognitive.environments.EnvironmentWithDynamics.kt Maven / Gradle / Ivy
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Abstraction for group of pedestrians capable of influence each other emotionally.
/*
* Copyright (C) 2010-2023, Danilo Pianini and contributors
* listed, for each module, in the respective subproject's build.gradle.kts file.
*
* This file is part of Alchemist, and is distributed under the terms of the
* GNU General Public License, with a linking exception,
* as described in the file LICENSE in the Alchemist distribution's top directory.
*/
package it.unibo.alchemist.model.cognitive.environments
import it.unibo.alchemist.model.GlobalReaction
import it.unibo.alchemist.model.Incarnation
import it.unibo.alchemist.model.Node
import it.unibo.alchemist.model.Node.Companion.asProperty
import it.unibo.alchemist.model.environments.Continuous2DEnvironment
import it.unibo.alchemist.model.obstacles.RectObstacle2D
import it.unibo.alchemist.model.physics.environments.ContinuousPhysics2DEnvironment
import it.unibo.alchemist.model.physics.environments.Dynamics2DEnvironment
import it.unibo.alchemist.model.physics.environments.EuclideanPhysics2DEnvironmentWithObstacles
import it.unibo.alchemist.model.physics.environments.Physics2DEnvironment
import it.unibo.alchemist.model.physics.properties.AreaProperty
import it.unibo.alchemist.model.physics.properties.PhysicalPedestrian2D
import it.unibo.alchemist.model.physics.reactions.PhysicsUpdate
import it.unibo.alchemist.model.positions.Euclidean2DPosition
import org.dyn4j.dynamics.Body
import org.dyn4j.dynamics.PhysicsBody
import org.dyn4j.geometry.Circle
import org.dyn4j.geometry.MassType
import org.dyn4j.geometry.Rectangle
import org.dyn4j.geometry.Transform
import org.dyn4j.geometry.Vector2
import org.dyn4j.world.World
import java.awt.Color
private typealias PhysicsEnvWithObstacles =
EuclideanPhysics2DEnvironmentWithObstacles, T>
/**
* This Environment uses hooks provided by [Dynamics2DEnvironment] to update
* the physical world, It also applies physical properties to any added node to
* perform collision detection and response.
* If an image path is provided a backing [ImageEnvironmentWithGraph] is used, otherwise
* the [Continuous2DEnvironment] will be used.
*/
class EnvironmentWithDynamics @JvmOverloads constructor(
incarnation: Incarnation,
path: String? = null,
zoom: Double = 1.0,
dx: Double = 0.0,
dy: Double = 0.0,
obstaclesColor: Int = Color.BLACK.rgb,
roomsColor: Int = Color.BLUE.rgb,
private val backingEnvironment: Physics2DEnvironment = path?.let {
ImageEnvironmentWithGraph(incarnation, it, zoom, dx, dy, obstaclesColor, roomsColor)
} ?: ContinuousPhysics2DEnvironment(incarnation),
) : Dynamics2DEnvironment,
PhysicsEnvWithObstacles by backingEnvironment.asEnvironmentWithObstacles() {
private val world: World = World()
private val nodeToBody: MutableMap, PhysicsBody> = mutableMapOf()
private var physicsUpdate = PhysicsUpdate(this, 1.0)
private var physicsUpdateHasBeenOverriden: Boolean
init {
world.gravity = World.ZERO_GRAVITY
/*
* This flag is defaulted to true. The engine automatically detects
* whether a node body stops (its linear velocity is below a certain threshold)
* and eventually puts it at rest. This means tha in future world.update() calls,
* the at-rest node will not be considered for the environment update.
* We do not want this because we always need no move each node, even if the movement is mimimal,
* in order to progress their cognitive perception for example.
*
* For further references: https://dyn4j.org/pages/advanced.html
*/
world.settings.isAtRestDetectionEnabled = false
addGlobalReaction(physicsUpdate)
physicsUpdateHasBeenOverriden = false
obstacles.forEach { obstacle ->
addObstacleToWorld(obstacle)
}
}
override fun addGlobalReaction(reaction: GlobalReaction) {
if (reaction is PhysicsUpdate) {
require(!physicsUpdateHasBeenOverriden) {
"${PhysicsUpdate::class.simpleName} reaction had been already overriden"
}
removeGlobalReaction(physicsUpdate)
physicsUpdateHasBeenOverriden = true
physicsUpdate = reaction
}
backingEnvironment.addGlobalReaction(reaction)
}
private fun addObstacleToWorld(obstacle: RectObstacle2D) {
val obstacleBody = Body()
obstacleBody.addFixture(Rectangle(obstacle.width, obstacle.height))
obstacleBody.setMass(MassType.INFINITE)
obstacleBody.transform = Transform().apply {
translate(obstacle.center)
}
world.addBody(obstacleBody)
}
private val RectObstacle2D.center get() =
Vector2(minX + (maxX - minX) / 2, minY + (maxY - minY) / 2)
override fun addNode(node: Node, position: Euclidean2DPosition): Boolean {
if (backingEnvironment.addNode(node, position)) {
addNodeBody(node)
moveNodeBodyToPosition(node, position)
return true
}
return false
}
private fun addNodeBody(node: Node) {
val nodeBody = Body()
addPhysicalProperties(nodeBody, node.asProperty>().shape.radius)
nodeToBody[node] = nodeBody
world.addBody(nodeBody)
node.asProperty>()
.onFall {
/*
* This disables collision response with the falling agent, as
* overlapping is allowed in this case.
* Agents approaching a falling agent will be subject to a
* proper avoidance force. see the PhysicalPedestrian interface.
*/
nodeToBody[it]?.isEnabled = false
}
}
private fun moveNodeBodyToPosition(node: Node, position: Euclidean2DPosition) {
nodeToBody[node]?.transform = Transform().apply {
translate(position.x, position.y)
}
}
override fun moveNode(node: Node, direction: Euclidean2DPosition) {
backingEnvironment.moveNode(node, direction)
moveNodeBodyToPosition(node, backingEnvironment.getPosition(node))
}
private fun addPhysicalProperties(body: PhysicsBody, radius: Double) {
body.addFixture(Circle(radius))
body.setMass(MassType.NORMAL)
}
override fun setVelocity(node: Node, velocity: Euclidean2DPosition) =
nodeToBody[node]?.let { it.linearVelocity = Vector2(velocity.x, velocity.y) }
?: error("Unable to update $node physical state. Check if it was added to this environment.")
override fun getVelocity(node: Node) = nodeToBody[node]?.let {
Euclidean2DPosition(it.linearVelocity.x, it.linearVelocity.y)
} ?: this.origin
override fun updatePhysics(elapsedTime: Double) {
world.update(elapsedTime, Int.MAX_VALUE)
/*
* Make world and environment position consistent
*/
nodeToBody.forEach { (node, body) ->
moveNodeToPosition(node, body.position)
}
}
override fun getPosition(node: Node): Euclidean2DPosition = nodeToBody[node]?.position
?: throw IllegalArgumentException("Unable to find $node's position in the environment.")
private val PhysicsBody.position get() =
Euclidean2DPosition(this.transform.translationX, this.transform.translationY)
override val origin: Euclidean2DPosition get() = backingEnvironment.origin
override fun makePosition(vararg coordinates: Double): Euclidean2DPosition =
backingEnvironment.makePosition(*coordinates)
companion object {
private fun Physics2DEnvironment.asEnvironmentWithObstacles(): PhysicsEnvWithObstacles =
if (this is EuclideanPhysics2DEnvironmentWithObstacles<*, T>) {
@Suppress("UNCHECKED_CAST")
this as EuclideanPhysics2DEnvironmentWithObstacles, T>
} else {
object : Physics2DEnvironment by this, PhysicsEnvWithObstacles {
override fun getObstaclesInRange(
center: Euclidean2DPosition,
range: Double,
): List> = emptyList()
override fun getObstaclesInRange(
centerx: Double,
centery: Double,
range: Double,
): List> = emptyList()
override fun hasMobileObstacles() = false
override val obstacles: List>
get() = emptyList()
override fun intersectsObstacle(start: Euclidean2DPosition, end: Euclidean2DPosition) = false
override fun next(current: Euclidean2DPosition, desired: Euclidean2DPosition) = desired
override fun removeObstacle(obstacle: RectObstacle2D) =
error("This Environment instance does not support obstacle removal")
override fun addObstacle(obstacle: RectObstacle2D) =
error("This Environment instance does not support adding obstacles")
override fun makePosition(vararg coordinates: Double) =
[email protected](*coordinates)
override fun makePosition(vararg coordinates: Number) =
[email protected](*coordinates)
override val origin
get() = [email protected]
}
}
}
}