cocos2d::Vec2 SteeringBehaviors::calculate()
{
m_vSteeringForce.setPoint(0, 0);
/**
* 要知道每一种驱动力的优先级其实是不同的，比如需要首要保证人物之间不能重叠和
* 撞墙，然后才是arrive和seek
*/
if (On(WALL_AVOIDANCE) && !accumulateForce(m_vSteeringForce, wallAvoidance()))
{
return m_vSteeringForce;
}
if (On(SEPARATION) && !accumulateForce(m_vSteeringForce, separation()))
{
return m_vSteeringForce;
}
// @_@ 后来加入的外部牵引力，一般是不开放的
if (On(TRACTION) && !accumulateForce(m_vSteeringForce, m_traction))
{
return m_vSteeringForce;
}
if (On(SEEK) && !accumulateForce(m_vSteeringForce, seek(m_vTarget)))
{
return m_vSteeringForce;
}
if (On(ARRIVE) && !accumulateForce(m_vSteeringForce, arrive(m_vTarget)))
{
return m_vSteeringForce;
}
if (On(PURSUIT) && !accumulateForce(m_vSteeringForce, pursuit(m_targetId)))
{
return m_vSteeringForce;
}
auto tmpFormation = m_pOwner->getTeam()->getTeamFormation();
auto tmpFormationPosId = m_pOwner->getMovingEntity().getFormationPosId();
if (On(KEEP_FORMATION) && !accumulateForce(m_vSteeringForce, keepFormation(tmpFormation, tmpFormationPosId)))
{
return m_vSteeringForce;
}
return m_vSteeringForce;
}
void HistogramOnGrid::calculate( const unsigned& current, MultiValue& myvals, std::vector<double>& buffer, std::vector<unsigned>& der_list ) const {
if( addOneKernelAtATime ) {
plumed_dbg_assert( myvals.getNumberOfValues()==2 && !wasforced );
std::vector<double> der( dimension );
for(unsigned i=0; i<dimension; ++i) der[i]=myvals.getDerivative( 1, i );
accumulate( getAction()->getPositionInCurrentTaskList(current), myvals.get(0), myvals.get(1), der, buffer );
} else {
plumed_dbg_assert( myvals.getNumberOfValues()==dimension+2 );
std::vector<double> point( dimension );
double weight=myvals.get(0)*myvals.get( 1+dimension );
for(unsigned i=0; i<dimension; ++i) point[i]=myvals.get( 1+i );
// Get the kernel
unsigned num_neigh;
std::vector<unsigned> neighbors;
std::vector<double> der( dimension );
KernelFunctions* kernel=getKernelAndNeighbors( point, num_neigh, neighbors );
// If no kernel normalize the vector so von misses distribution is calculated correctly
if( !kernel ) {
double norm=0;
for(unsigned j=0; j<dimension; ++j) norm += point[j]*point[j];
norm=sqrt( norm );
for(unsigned j=0; j<dimension; ++j) point[j] = point[j] / norm;
}
if( !kernel && getType()=="flat" ) {
plumed_dbg_assert( num_neigh==1 );
accumulate( neighbors[0], weight, 1.0, der, buffer );
} else {
double totwforce=0.0;
std::vector<double> intforce( 2*dimension, 0.0 );
std::vector<Value*> vv( getVectorOfValues() );
double newval;
std::vector<double> xx( dimension );
for(unsigned i=0; i<num_neigh; ++i) {
unsigned ineigh=neighbors[i];
if( inactive( ineigh ) ) continue ;
getGridPointCoordinates( ineigh, xx );
for(unsigned j=0; j<dimension; ++j) vv[j]->set(xx[j]);
if( kernel ) {
newval = kernel->evaluate( vv, der, true );
} else {
// Evalulate dot product
double dot=0;
for(unsigned j=0; j<dimension; ++j) {
dot+=xx[j]*point[j];
der[j]=xx[j];
}
// Von misses distribution for concentration parameter
newval = von_misses_norm*exp( von_misses_concentration*dot );
// And final derivatives
for(unsigned j=0; j<dimension; ++j) der[j] *= von_misses_concentration*newval;
}
accumulate( ineigh, weight, newval, der, buffer );
if( wasForced() ) {
accumulateForce( ineigh, weight, der, intforce );
totwforce += myvals.get( 1+dimension )*newval*forces[ineigh];
}
}
if( wasForced() ) {
unsigned nder = getAction()->getNumberOfDerivatives();
unsigned gridbuf = getNumberOfBufferPoints()*getNumberOfQuantities();
for(unsigned j=0; j<dimension; ++j) {
for(unsigned k=0; k<myvals.getNumberActive(); ++k) {
// Minus sign here as we are taking derivative with respect to position of center of kernel NOT derivative wrt to
// grid point
unsigned kder=myvals.getActiveIndex(k);
buffer[ bufstart + gridbuf + kder ] -= intforce[j]*myvals.getDerivative( j+1, kder );
}
}
// Accumulate the sum of all the weights
buffer[ bufstart + gridbuf + nder ] += myvals.get(0);
// Add the derivatives of the weights into the force -- this is separate loop as weights of all parts are considered together
for(unsigned k=0; k<myvals.getNumberActive(); ++k) {
unsigned kder=myvals.getActiveIndex(k);
buffer[ bufstart + gridbuf + kder ] += totwforce*myvals.getDerivative( 0, kder );
buffer[ bufstart + gridbuf + nder + 1 + kder ] += myvals.getDerivative( 0, kder );
}
}
delete kernel;
for(unsigned i=0; i<dimension; ++i) delete vv[i];
}
}
}
