| | | 1 | | using System.Collections; |
| | | 2 | | using System.Collections.Generic; |
| | | 3 | | using System.Linq; |
| | | 4 | | using UnityEngine; |
| | | 5 | | |
| | | 6 | | // The cluster class represents a collection of game objects. |
| | | 7 | | public class Cluster { |
| | | 8 | | // Coordinates of the cluster. |
| | 755 | 9 | | private Vector3 _coordinates = Vector3.zero; |
| | | 10 | | |
| | | 11 | | // List of game objects in the cluster. |
| | 755 | 12 | | private List<GameObject> _objects = new List<GameObject>(); |
| | | 13 | | |
| | 0 | 14 | | public Cluster() {} |
| | 0 | 15 | | public Cluster(in Vector3 coordinates) { |
| | 0 | 16 | | _coordinates = coordinates; |
| | 0 | 17 | | } |
| | 1510 | 18 | | public Cluster(in GameObject obj) { |
| | 755 | 19 | | _coordinates = obj.transform.position; |
| | 755 | 20 | | } |
| | | 21 | | |
| | | 22 | | // Get the cluster coordinates. |
| | | 23 | | public Vector3 Coordinates { |
| | 1555998 | 24 | | get { return _coordinates; } |
| | | 25 | | } |
| | | 26 | | |
| | | 27 | | // Get the list of game objects. |
| | | 28 | | public IReadOnlyList<GameObject> Objects { |
| | 1734 | 29 | | get { return _objects; } |
| | | 30 | | } |
| | | 31 | | |
| | | 32 | | // Get the list of agents. |
| | | 33 | | public IReadOnlyList<Agent> Agents { |
| | 20258 | 34 | | get { return _objects.Select(gameObject => gameObject.GetComponent<Agent>()).ToList(); } |
| | | 35 | | } |
| | | 36 | | |
| | | 37 | | // Get the list of interceptors. |
| | | 38 | | public IReadOnlyList<Interceptor> Interceptors { |
| | 0 | 39 | | get { |
| | 0 | 40 | | return _objects.Select(gameObject => gameObject.GetComponent<Agent>() as Interceptor) |
| | | 41 | | .ToList(); |
| | 0 | 42 | | } |
| | | 43 | | } |
| | | 44 | | |
| | | 45 | | // Get the list of threats. |
| | | 46 | | public IReadOnlyList<Threat> Threats { |
| | 0 | 47 | | get { |
| | 0 | 48 | | return _objects.Select(gameObject => gameObject.GetComponent<Agent>() as Threat).ToList(); |
| | 0 | 49 | | } |
| | | 50 | | } |
| | | 51 | | |
| | | 52 | | // Return the size of the cluster. |
| | 1782 | 53 | | public int Size() { |
| | 1782 | 54 | | return _objects.Count; |
| | 1782 | 55 | | } |
| | | 56 | | |
| | | 57 | | // Check whether the cluster is empty. |
| | 0 | 58 | | public bool IsEmpty() { |
| | 0 | 59 | | return Size() == 0; |
| | 0 | 60 | | } |
| | | 61 | | |
| | | 62 | | // Calculate the radius of the cluster. |
| | 0 | 63 | | public float Radius() { |
| | 0 | 64 | | if (IsEmpty()) { |
| | 0 | 65 | | return 0; |
| | | 66 | | } |
| | | 67 | | |
| | 0 | 68 | | Vector3 centroid = Centroid(); |
| | 0 | 69 | | return _objects.Max(obj => Vector3.Distance(centroid, obj.transform.position)); |
| | 0 | 70 | | } |
| | | 71 | | |
| | | 72 | | // Calculate the centroid of the cluster. |
| | | 73 | | // The centroid is the mean position of all active game objects. |
| | 1695 | 74 | | public Vector3 Centroid() { |
| | 1695 | 75 | | Vector3 positionSum = Vector3.zero; |
| | 1695 | 76 | | int activeAgentCount = 0; |
| | 25716 | 77 | | foreach (var agent in Agents) { |
| | 13754 | 78 | | if (agent != null && !agent.IsTerminated()) { |
| | 6877 | 79 | | positionSum += agent.GetPosition(); |
| | 6877 | 80 | | ++activeAgentCount; |
| | 6877 | 81 | | } |
| | 6877 | 82 | | } |
| | 1695 | 83 | | return activeAgentCount > 0 ? positionSum / activeAgentCount : Vector3.zero; |
| | 1695 | 84 | | } |
| | | 85 | | |
| | | 86 | | // Recenter the cluster's centroid to be the mean of all game objects' positions in the cluster. |
| | 1048 | 87 | | public void Recenter() { |
| | 1048 | 88 | | _coordinates = Centroid(); |
| | 1048 | 89 | | } |
| | | 90 | | |
| | | 91 | | // Calculate the velocity of the cluster. |
| | | 92 | | // The velocity is the mean velocity of all active game objects. |
| | 647 | 93 | | public Vector3 Velocity() { |
| | 647 | 94 | | Vector3 velocitySum = Vector3.zero; |
| | 647 | 95 | | int activeAgentCount = 0; |
| | 10491 | 96 | | foreach (var agent in Agents) { |
| | 5700 | 97 | | if (agent != null && !agent.IsTerminated()) { |
| | 2850 | 98 | | velocitySum += agent.GetVelocity(); |
| | 2850 | 99 | | ++activeAgentCount; |
| | 2850 | 100 | | } |
| | 2850 | 101 | | } |
| | 647 | 102 | | return activeAgentCount > 0 ? velocitySum / activeAgentCount : Vector3.zero; |
| | 647 | 103 | | } |
| | | 104 | | |
| | | 105 | | // Add a game object to the cluster. |
| | | 106 | | // This function does not update the centroid of the cluster. |
| | 755 | 107 | | public void AddObject(in GameObject obj) { |
| | 755 | 108 | | _objects.Add(obj); |
| | 755 | 109 | | } |
| | | 110 | | |
| | | 111 | | // Add multiple game objects to the cluster. |
| | | 112 | | // This function does not update the centroid of the cluster. |
| | 578 | 113 | | public void AddObjects(in IReadOnlyList<GameObject> objects) { |
| | 578 | 114 | | _objects.AddRange(objects); |
| | 578 | 115 | | } |
| | | 116 | | |
| | | 117 | | // Merge another cluster into this one. |
| | | 118 | | // This function does not update the centroid of the cluster. |
| | 578 | 119 | | public void Merge(in Cluster cluster) { |
| | 578 | 120 | | AddObjects(cluster.Objects); |
| | 578 | 121 | | } |
| | | 122 | | |
| | | 123 | | // Returns true if all agents in the cluster are terminated. |
| | 470 | 124 | | public bool IsFullyTerminated() { |
| | 940 | 125 | | return Agents.All(agent => agent?.IsTerminated() ?? true); |
| | 470 | 126 | | } |
| | | 127 | | } |