it.unibo.alchemist.model.actions.AbstractEuclideanConfigurableMoveNode.kt Maven / Gradle / Ivy

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Alchemist geometric components for Euclidean spaces

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/*
 * 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.actions

import it.unibo.alchemist.model.Environment
import it.unibo.alchemist.model.Node
import it.unibo.alchemist.model.Position
import it.unibo.alchemist.model.geometry.Vector
import it.unibo.alchemist.model.movestrategies.RoutingStrategy
import it.unibo.alchemist.model.movestrategies.SpeedSelectionStrategy
import it.unibo.alchemist.model.movestrategies.TargetSelectionStrategy

/**
 * It's an [AbstractConfigurableMoveNode] in the Euclidean world, which provides a default [interpolatePositions]
 * that is accurate with respect to the target given and the current maximum walking distance.
 */
abstract class AbstractEuclideanConfigurableMoveNode(
    environment: Environment,
    node: Node,
    routing: RoutingStrategy,
    target: TargetSelectionStrategy,
    speed: SpeedSelectionStrategy,
) : AbstractConfigurableMoveNode(environment, node, routing, target, speed)
    where P : Position, P : Vector {

    /**
     * @returns the next relative position reached by the node. If [maxWalk] is greater than the distance to
     * the [target], the node positions precisely on [target] without going farther.
     */
    override fun interpolatePositions(current: P, target: P, maxWalk: Double): P =
        (target - current).coerceAtMost(maxWalk)
}