jadex.extension.envsupport.environment.space2d.Space2D Maven / Gradle / Ivy
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The Jadex kernel extension envsupport allows for using 2D spaces in concert with components.
package jadex.extension.envsupport.environment.space2d;
import java.util.HashMap;
import java.util.HashSet;
import java.util.Iterator;
import java.util.Map;
import java.util.Map.Entry;
import java.util.Set;
import jadex.bridge.service.types.clock.IClockService;
import jadex.commons.IFilter;
import jadex.commons.SimplePropertyObject;
import jadex.commons.meta.IPropertyMetaDataSet;
import jadex.extension.envsupport.MObjectType;
import jadex.extension.envsupport.environment.AbstractEnvironmentSpace;
import jadex.extension.envsupport.environment.IEnvironmentSpace;
import jadex.extension.envsupport.environment.ISpaceObject;
import jadex.extension.envsupport.environment.ISpaceProcess;
import jadex.extension.envsupport.math.IVector1;
import jadex.extension.envsupport.math.IVector2;
import jadex.extension.envsupport.math.Vector1Double;
import jadex.extension.envsupport.math.Vector2Double;
import jadex.extension.envsupport.math.Vector2Int;
/**
* General 2D space.
*/
public abstract class Space2D extends AbstractEnvironmentSpace
{
//-------- constants --------
/** The constant for the position property. */
public static final String PROPERTY_POSITION = "position";
/** The constant for the border property. */
public static final String PROPERTY_BORDER = "border";
/** Border strict mode. */
public static final String BORDER_STRICT = "strict";
/** Border relaxed mode. */
public static final String BORDER_RELAXED = "relaxed";
/** Border torus behavior. */
public static final String BORDER_TORUS = "torus";
//-------- attributes --------
/** Area size. */
protected IVector2 areasize;
/** KD-Trees. */
protected Map kdTrees;
//-------- constructors --------
/**
* Initializes the 2D-Space.
* @param spaceexecutor executor for the space
* @param actionexecutor executor for component actions
* @param areasize the size of the 2D area
*/
protected Space2D(IVector2 areasize)
{
this.areasize = areasize;
this.kdTrees = new HashMap();
}
//-------- methods --------
/**
* Returns the size of the simulated area.
* @return size of the simulated area
*/
public IVector2 getAreaSize()
{
synchronized(monitor)
{
return areasize.copy();
}
}
/**
* Set the area size.
* @param areasize The area size.
*/
public void setAreaSize(IVector2 areasize)
{
synchronized(monitor)
{
this.areasize = areasize;
}
}
/**
* Get the border mode.
* @return the border_mode
*/
public String getBorderMode()
{
return getPropertyNames().contains(PROPERTY_BORDER)
? (String)getProperty(PROPERTY_BORDER)
: BORDER_TORUS;
}
/**
* Init an object in this space.
*/
public void initSpaceObject(ISpaceObject ret)
{
super.initSpaceObject(ret);
IVector2 pos = ret.getPropertyNames().contains(PROPERTY_POSITION)?
(IVector2)ret.getProperty(PROPERTY_POSITION): getRandomPosition(Vector2Int.ZERO);
if(pos!=null)
{
ret.setProperty(PROPERTY_POSITION, null);
setPosition(ret.getId(), pos);
}
KdTree kdTree = kdTrees.get(ret.getType());
if (kdTree != null)
kdTree.addObject(ret);
}
public void addSpaceObjectType(String typename,
IPropertyMetaDataSet mobjecttype)
{
super.addSpaceObjectType(typename, mobjecttype);
if (((MObjectType) mobjecttype).isKdTree())
enableKdTree(typename);
}
/**
* Set the position of an object.
* @param id The object id.
* @param pos The object position.
*/
public void setPosition(Object id, IVector2 pos)
{
ISpaceObject obj;
IVector2 newpos;
synchronized(monitor)
{
obj = getSpaceObject(id);
if(obj==null)
throw new RuntimeException("Space object not found: "+id);
newpos = adjustPosition(pos);
}
obj.setProperty(PROPERTY_POSITION, newpos);
}
/**
* Get the distance between two positions.
* @param pos1 The first position.
* @param pos2 The second position.
*/
public IVector1 getDistance(IVector2 pos1, IVector2 pos2)
{
synchronized(monitor)
{
// try
// {
IVector1 dx = getDistance(pos1.getX(), pos2.getX(), true);
IVector1 dy = getDistance(pos1.getY(), pos2.getY(), false);
IVector1 ret = calculateDistance(dx, dy);
// System.out.println(ret);
return ret;
// }
// catch(Exception e)
// {
// e.printStackTrace();
// throw new RuntimeException();
// }
}
}
/**
* Get the distance between two coordinates (x or y).
* @param pos1 The first position.
* @param pos2 The second position.
*/
public IVector1 getDistance(IVector1 pos1, IVector1 pos2, boolean isx)
{
synchronized(monitor)
{
IVector1 ret = null;
if(BORDER_TORUS.equals(getBorderMode()))
{
IVector1 size = isx? areasize.getX(): areasize.getY();
if(pos1.greater(pos2))
{
IVector1 tmp = pos1;
pos1 = pos2;
pos2 = tmp;
}
IVector1 d1 = pos2.copy().subtract(pos1);
IVector1 d2 = pos1.copy().add(size).subtract(pos2);
ret = d1.less(d2) ? d1 : d2;
}
else
{
ret = pos1.getDistance(pos2);
}
return ret;
}
}
/**
* Calculate the distance in the space.
* @param dx The distance in x.
* @param dy The distance in y.
* @return The distance according to the distance metrics of the space.
*/
public IVector1 calculateDistance(IVector1 dx, IVector1 dy)
{
IVector1 x2 = dx.copy().multiply(dx);
IVector1 y2 = dy.copy().multiply(dy);
return x2.add(y2).sqrt();
}
/**
* Calculate a position according to the space borders.
*/
public IVector2 adjustPosition(IVector2 pos)
{
IVector2 ret = null;
if(pos!=null)
{
if(BORDER_TORUS.equals(getBorderMode()))
{
IVector1 sizex = areasize.getX();
IVector1 sizey = areasize.getY();
IVector1 x = pos.getX().copy();
IVector1 y = pos.getY().copy();
while(x.less(Vector1Double.ZERO))
x.add(sizex);
while(y.less(Vector1Double.ZERO))
y.add(sizey);
x = x.copy().mod(sizex);
y = y.copy().mod(sizey);
ret = x.createVector2(y);
}
else if(BORDER_STRICT.equals(getBorderMode()))
{
IVector1 sizex = areasize.getX();
IVector1 sizey = areasize.getY();
if(pos.getX().greater(sizex) || pos.getX().less(Vector1Double.ZERO)
|| pos.getY().greater(sizey) || pos.getY().less(Vector1Double.ZERO))
{
throw new RuntimeException("Position out of areasize: "+pos+" "+areasize);
}
ret = pos;
}
else if(BORDER_RELAXED.equals(getBorderMode()))
{
ret = pos;
}
else
{
throw new RuntimeException("Unknown bordermode: "+getBorderMode());
}
}
return ret;
}
/**
* Retrieves a random position within the simulation area with a minimum
* distance from the edge.
* @param distance minimum distance from the edge, null or zero for no distance
*/
public IVector2 getRandomPosition(IVector2 distance)
{
synchronized(monitor)
{
if(distance == null)
distance = Vector2Double.ZERO;
IVector2 position = areasize.copy();
position.subtract(distance);
position.randomX(distance.getX(), position.getX());
position.randomY(distance.getY(), position.getY());
// System.out.println("position: "+position);
return position;
}
}
/**
* Enables kd-tree NN-Search optimization for a specific object type.
* This will increase space overhead but massively decreases restricted
* nearest-neighborsearches in cases of large amounts
* of (evenly distributed) objects.
*
* @param String type The type of object being optimized.
*/
public void enableKdTree(String type)
{
synchronized(monitor)
{
KdTree tree = new KdTree();
ISpaceObject[] objects = (ISpaceObject[]) getSpaceObjectsByType(type);
for (int i = 0; i < objects.length; ++i)
tree.addObject(objects[i]);
tree.rebuild();
kdTrees.put(type, tree);
ISpaceProcess process = new KdTreeProcess(tree);
process.setProperty(ISpaceProcess.ID, tree);
processes.put(tree, process);
}
}
/**
* Disables kd-tree NN-Search optimization for a specific object type.
*
* @param String type The type of object for which the kd-tree is disabled.
*/
public void disableKdTree(String type)
{
synchronized (monitor)
{
KdTree tree = kdTrees.remove(type);
processes.remove(tree);
}
}
/**
* Returns the nearest object to the given position within a
* maximum distance from the position.
*
* @param position position the object should be nearest to
* @param maxdist maximum distance from the position, use null for unlimited distance
* @return nearest object's ID or null if none is found
*/
public ISpaceObject getNearestObject(IVector2 position, IVector1 maxdist, String type)
{
ISpaceObject ret = null;
synchronized(monitor)
{
KdTree kdTree = kdTrees.get(type);
if (kdTree != null)
return kdTree.getNearestObject(position, maxdist.getAsDouble());
ISpaceObject nearest = null;
IVector1 distance = null;
ISpaceObject[] objects = type!=null ? getSpaceObjectsByType(type) : (ISpaceObject[])getSpaceObjects();
for(int i=0; objects!=null && i getNearObjects(IVector2 position, IVector1 maxdist)
{
return getNearObjects(position, maxdist, (IFilter)null);
}
/**
* Retrieve all objects in the distance for a position
* @param position
* @param distance
* @return The near objects.
*/
public Set getNearObjects(IVector2 position, IVector1 maxdist, final String type)
{
synchronized(monitor)
{
KdTree kdTree = kdTrees.get(type);
if (kdTree != null)
return new HashSet(kdTree.getNearestObjects(position, maxdist.getAsDouble()));
}
return getNearObjects(position, maxdist, new IFilter()
{
public boolean filter(Object obj)
{
return type.equals(((ISpaceObject)obj).getType());
}
});
// synchronized(monitor)
// {
// Set ret = new HashSet();
//
// Set objects = spaceobjects.entrySet();
// for(Iterator it = objects.iterator(); it.hasNext();)
// {
// Map.Entry entry = (Entry)it.next();
// ISpaceObject obj = (ISpaceObject)entry.getValue();
// IVector2 pos = (IVector2)obj.getProperty(Space2D.PROPERTY_POSITION);
//
// if(pos!=null && (type==null || type.equals(obj.getType())))
// {
// IVector1 dist = getDistance(pos, position);
// if(maxdist==null || !maxdist.less(dist))
// {
// ret.add(obj);
// }
// }
// }
//
// return ret;
// }
}
/**
* Retrieve all objects in the distance for a position
* @param position
* @param distance
* @return The near objects.
*/
public Set getNearObjects(IVector2 position, IVector1 maxdist, IFilter filter)
{
synchronized(monitor)
{
Set ret = new HashSet();
Set objects = spaceobjects.entrySet();
for(Iterator it = objects.iterator(); it.hasNext();)
{
Map.Entry entry = (Entry)it.next();
ISpaceObject obj = (ISpaceObject)entry.getValue();
IVector2 pos = (IVector2)obj.getProperty(Space2D.PROPERTY_POSITION);
if(pos!=null && (filter==null || filter.filter(obj)))
{
IVector1 dist = getDistance(pos, position);
if(maxdist==null || !maxdist.less(dist))
{
ret.add(obj);
}
}
}
return ret;
}
}
/**
* Retrieve all objects in the distance for a position
* @param position
* @param distance
* @return The near objects.
*/
public Set getNearObjects(IVector2 position, IVector1 maxdist, final String type, final IFilter filter)
{
synchronized(monitor)
{
KdTree kdTree = kdTrees.get(type);
if (kdTree != null)
return new HashSet(kdTree.getNearestObjects(position, maxdist.getAsDouble(), filter));
}
return getNearObjects(position, maxdist, new IFilter()
{
public boolean filter(Object obj)
{
return (((ISpaceObject) obj).getType().equals(type) && filter.filter(obj));
}
});
}
/**
* Retrieve all objects in the distance for a position
* @param position
* @param distance
* @return The near objects.
* /
public ISpaceObject[] getNearObjects(IVector2 position, IVector2 maxdist, String type)
{
synchronized(monitor)
{
List ret = new ArrayList();
Set objects = spaceobjects.entrySet();
for(Iterator it = objects.iterator(); it.hasNext();)
{
Map.Entry entry = (Entry)it.next();
ISpaceObject obj = (ISpaceObject)entry.getValue();
IVector2 pos = (IVector2)obj.getProperty(Space2D.PROPERTY_POSITION);
if(pos!=null && (type==null || type.equals(obj.getType())))
{
IVector1 dx = getDistance(pos.getX(), position.getX(), true);
IVector1 dy = getDistance(pos.getY(), position.getY(), false);
if(dx.less(maxdist.getX()) || dx.equals(maxdist.getX())
&& dy.less(maxdist.getY()) || dy.equals(maxdist.getY()))
{
ret.add(obj);
}
}
}
return (ISpaceObject[])ret.toArray(new ISpaceObject[ret.size()]);
}
}*/
/**
* Get all space objects.
* @return All space objects.
*/
public Object[] getSpaceObjects()
{
synchronized(monitor)
{
return spaceobjects.values().toArray();
}
}
protected class KdTreeProcess extends SimplePropertyObject implements ISpaceProcess
{
/** The kd-tree */
protected KdTree kdtree;
/** Creates a new update process for a kd-tree.
*
* @param kdTree The kd-tree.
*/
public KdTreeProcess(KdTree kdTree)
{
this.kdtree = kdTree;
}
public void execute(IClockService clock, IEnvironmentSpace space)
{
kdtree.rebuild();
}
public void shutdown(IEnvironmentSpace space)
{
}
public void start(IClockService clock, IEnvironmentSpace space)
{
}
}
}