//
// void sortByDistance(v)
// Last modified: 29Nov2009
//
// Sorts the neighborhood based upon neighbor distance
// as determined by the parameterized difference vector.
//
// Returns: <none>
// Parameters:
// v in the difference vector
//
void Neighborhood::sortByDistance(const Vector v)
{
for (GLint i = 0; i < size() - 1; ++i)
for (GLint j = i; j < size(); ++j)
if ((getNbr(i)->relActual - v).magnitude() >
(getNbr(j)->relActual - v).magnitude()) swapNbrs(i, j);
} // sortByDistance(const Vector)
//
// void sortByGradient(v)
// Last modified: 29Nov2009
//
// Sorts the neighborhood based upon neighbor gradient
// as determined by the parameterized difference vector.
//
// Returns: <none>
// Parameters:
// v in the difference vector
//
void Neighborhood::sortByGradient(const Vector v)
{
for (GLint i = 0; i < size() - 1; ++i)
for (GLint j = i; j < size(); ++j)
if ((getNbr(i)->gradient - v).magnitude() >
(getNbr(j)->gradient - v).magnitude()) swapNbrs(i, j);
} // sortByGradient(const Vector)
//
// void sortByAbsAngle(v)
// Last modified: 29Nov2009
//
// Sorts the neighborhood based upon the absolute value of the angle
// of the neighbor-relative and the parameterized difference vector.
//
// Returns: <none>
// Parameters:
// v in the difference vector
//
void Neighborhood::sortByAbsAngle(const Vector v)
{
for (GLint i = 0; i < size() - 1; ++i)
for (GLint j = i; j < size(); ++j)
if (abs((getNbr(i)->relActual - v).angle()) >
abs((getNbr(j)->relActual - v).angle())) swapNbrs(i, j);
} // sortByAbsAngle(const Vector)
// Sorts the neighborhood based upon the angle of the
// neighbor-relative and the parameterized difference vector.
void Neighborhood::sortByAngle(const Vector v)
{
for (unsigned i = 0; i < size() - 1; ++i)
for (unsigned j = i; j < size(); ++j)
if ((getNbr(i)->relActual - v).angle() >
(getNbr(j)->relActual - v).angle())
swapNbrs(i, j);
}
// Sorts the neighborhood based upon neighbor frp
// as determined by the parameterized difference vector.
void Neighborhood::sortByFrp(const Vector v)
{
for (unsigned i = 0; i < size() - 1; ++i)
for (unsigned j = i; j < size(); ++j)
if ((getNbr(i)->frp - v).magnitude() >
(getNbr(j)->frp - v).magnitude())
swapNbrs(i, j);
}
//
// bool sendStateToNbrs()
// Last modified: 27Aug2006
//
// Attempts to broadcast the state of the cell
// to the neighborhood of the cell, returning
// true if successful, false otherwise.
//
// Returns: true if successful, false otherwise
// Parameters: <none>
//
bool Cell::sendStateToNbrs()
{
Neighbor curr;
for (GLint i = 0; i < getNNbrs(); ++i)
if (!sendState(getNbr(i)->ID)) return false;
return true;
} // sendStateToNbrs()
//
// void updateState()
// Last modified: 27Aug2006
//
// Updates the state of the cell based upon the
// current states of the neighbors of the cell.
//
// Returns: <none>
// Parameters: <none>
//
void Cell::updateState()
{
Neighbor currNbr;
for (GLint i = 0; i < getNNbrs(); ++i)
{
if (!getHead(currNbr)) break;
// change formation if a neighbor has changed formation
if (getNbr(0)->formation.getFormationID() > formation.getFormationID())
changeFormation(getNbr(0)->formation, *getNbr(0));
getNbr(0)->relActual = getRelationship(currNbr.ID);
++(*this);
}
rels = getRelationships();
if(rels.getSize())
{
// reference the neighbor with the smallest gradient
// to establish correct position in formation
Neighbor *refNbr = nbrWithMinGradient();
Relationship *nbrRel = relWithID(refNbr->rels, ID);
if ((formation.getSeedID() != ID) && (refNbr != NULL) && (nbrRel != NULL))
{
// error (state) is based upon the accumulated error in the formation
nbrRel->relDesired.rotateRelative(-refNbr->rotError);
GLfloat theta = scaleDegrees(nbrRel->relActual.angle() -
(-refNbr->relActual).angle());
rotError = scaleDegrees(theta + refNbr->rotError);
transError = nbrRel->relDesired - nbrRel->relActual +
refNbr->transError;
transError.rotateRelative(-theta);
if (transError.norm() > threshold()) moveArc(transError);
else
if (abs(rotError) > angThreshold())
moveArc(0.0, degreesToRadians(-rotError));
/*if (abs(scaleDegrees(refNbr->relActual.angle() -
refNbr->relDesired.angle())) > angThreshold())
orientTo(refNbr->relActual, refNbr->relDesired.angle());*/
else moveStop();
}
else moveStop();
}
} // updateState()
//
// void sortByID()
// Last modified: 29Nov2009
//
// Sorts the neighborhood based upon neighbor ID.
//
// Returns: <none>
// Parameters: <none>
//
void Neighborhood::sortByID()
{
for (GLint i = 0; i < size() - 1; ++i)
for (GLint j = i; j < size(); ++j)
if (getNbr(i)->ID > getNbr(j)->ID) swapNbrs(i, j);
} // sortByID()
