Polarith AI
1.8
The PlanarSensor is a special type of Sensor with the assumption that there is a (virtual) ground in the world (back-end class).
Within a planar sensor shape, each receptor has got two neighbours at maximum, one precessing and one succeeding neighbour. If any of these are not existent, the corresponding neighbour ID is -1. All contained receptors lay within a plane which correlates to the ground of the world.
This class extends the methods of its base hierarchy so that they are suitable for the targeted planar case. In addition, it defines static methods for the construction of the most usual planar sensor shapes: CreateLine(int, float, float, PlanarOrientationType) and CreateCircle(int, float, PlanarOrientationType).
Attention, a sensor might be shared by multiple agents! Changing the data of a shared sensor at runtime is not thread-safe.
Back-end class of AIMPlanarSensor.
Protected Fields | |
| List< Receptor > | receptors = new List<Receptor>() |
| All contained receptor instances forming the shape of this sensor. More... | |
Properties | |
| override Sensor | Clone [get] |
| Constructs a copy of this instance, especially deep copies the contained receptors (read only). More... | |
| override Quaternion | Rotation [get] |
| The current rotation with respect to the set PlanarOrientation (read only). More... | |
| override Quaternion | InverseRotation [get] |
| The inverse of the current rotation with respect to the set PlanarOrientation (read only). More... | |
| PlanarOrientationType | PlanarOrientation [get, set] |
| Specifies how this Sensor is oriented with respect to a virtual axis-aligned plane. More... | |
| override VectorProjectionType | ProjectionMode [get] |
| The VectorProjectionType derived from the PlanarOrientationType. More... | |
| override int | ReceptorCount [get] |
| The number of contained receptors (read only). More... | |
| override IReceptor< Structure > | this[int id] [get] |
| Provides quick read-only access to a contained Receptor instance. More... | |
Public Methods | |
| override IReceptor< Structure > | AddReceptor () |
| Constructs and adds a Receptor instance into this sensor. More... | |
| override IReceptor< Structure > | InsertReceptor (int id) |
| Constructs and inserts a Receptor instance into this sensor with the specified id . More... | |
| int | GetNeighbourID (int id, int targetNeighbour) |
| Recursively gets the neighbour ID at the specified place targetNeighbour . More... | |
| void | InitializeNeighbours (bool closed) |
| Rebuilds and updates the neighbour IDs for each receptor. More... | |
| override IReceptor< Structure > | GetReceptor (int id) |
| Gets the Receptor with the specified id . More... | |
| override void | RemoveReceptorAt (int id) |
| Removes the Receptor with the specified id . More... | |
| override void | ClearReceptors () |
| Removes all contained Receptor instances. More... | |
Public Static Methods | |
| static PlanarSensor | CreateLine (int receptorCount, float width, float positionY, PlanarOrientationType planarOrientation=PlanarOrientationType.PlaneXY) |
| Constructs a sensor shape so that its receptors lay on a horizontal line pointing upwards. More... | |
| static PlanarSensor | CreateCircle (int receptorCount, float radius, PlanarOrientationType planarOrientation=PlanarOrientationType.PlaneXY) |
| Constructs a radial sensor shape so that its receptors has got the same position (when the given radius is 0) with their directions arranged in a circle pointing outside. More... | |