C++ Organism::addRobot方法代码示例

/**
 * Check whether the organism is still connected
 */
std::vector<Organism*> Organism::checkIntegrity() {
	std::vector<Organism*> orgs = std::vector<Organism*>();
	if (!isActive()) {
		return orgs;
	}

	std::vector<RobotAgentPtr> not_visited = std::vector<RobotAgentPtr>(this->agents);
	std::vector<RobotAgentPtr> loners = std::vector<RobotAgentPtr>();

	std::vector<RobotAgentPtr> connected = std::vector<RobotAgentPtr>();
	std::stack<RobotAgentPtr> s = std::stack<RobotAgentPtr>();

	// Tree visiting algorithm using a stack
	// All nodes of the "tree" should be visited, otherwise
	// the organism is falling apart
	// Repeat until all robots in the (ex)organism are accounted for
	while (!not_visited.empty()) {
		s.push(not_visited.front());
		while (!s.empty()) {
			RobotAgentPtr a = s.top();
			s.pop();

			// This robot has been visited
			std::vector<RobotAgentPtr>::iterator it;
			it = std::find(not_visited.begin(), not_visited.end(), a);
			if (it != not_visited.end()) {
				not_visited.erase(it);
			}

			// so it is connected to the current organism
			connected.push_back(a);

			// Add the neighbours of this robot to the stack
			std::vector<RobotAgentPtr>::iterator it2;
			for (it2 = a->getConnected()->begin(); it2 != a->getConnected()->end(); it2++) {
				if (std::find(connected.begin(), connected.end(), (*it2)) == connected.end()) {
					s.push((*it2));
				}
			}
		}

		if (connected.size() == this->agents.size()) {
			// organism intact.
			return orgs;
		} else if (connected.size() > 1) {
			// a connected part of the organism exist
			Organism *o = new Organism();
			std::vector<RobotAgentPtr>::iterator it;
			for (it = connected.begin(); it != connected.end(); it++) {
				o->addRobot((*it));
				(*it)->setOrganism(o);
			}
			orgs.push_back(o);
		} else if (connected.size() == 1) {
			// this robot is not connected to any other
			connected.front()->letGoOfOrganism();
			loners.push_back(connected.front());
		}
		connected.clear();
	}

	std::vector<RobotAgentPtr>::iterator it2;
	for (it2 = loners.begin(); it2 != loners.end(); it2++) {
		(*it2)->setOrganism(NULL);
	}
	this->setInactive();

	return orgs;
}

void RobotAgent::connectToRobot(RobotAgentPtr other) {
	if (!gUseOrganisms) return;

	if (this->isPartOfOrganism() && other->isPartOfOrganism()
			&& this->getOrganism()->getId() == other->getOrganism()->getId()) {
		// the same organism, do nothing.
	} else if (other->isPartOfOrganism() && this->isPartOfOrganism()
			&& other->getOrganism()->getId() != this->getOrganism()->getId()) {
		// two different organisms
		Organism* o1 = this->getOrganism();
		Organism* o2 = other->getOrganism();

		this->addNeighbour(other);
		other->addNeighbour(gWorld->getAgent(this->_wm->_agentId));

		// merge smaller into larger
		if (o1->size() >= o2->size()) {
			gLogFile << "Merging organism " << o2->getId() << " into " << o1->getId() << std::endl;

			//other->clickOnto(this, o2);

			o2->mergeInto(o1);
			o2->setInactive();
			//Organism::remove(o2);
			//delete o2;
		} else {
			gLogFile << "Merging organism " << o1->getId() << " into " << o2->getId() << std::endl;

			//this->clickOnto(other, o1);

			o1->mergeInto(o2);
			o1->setInactive();

			//Organism::remove(o1);
			//delete o1;
		}
	} else if (other->isPartOfOrganism()) {
		Organism* organism = other->getOrganism();
		organism->addRobot(gWorld->getAgent(this->_wm->_agentId));
		this->setOrganism(organism);

		this->addNeighbour(other);
		other->addNeighbour(gWorld->getAgent(this->_wm->_agentId));

		//this->clickOnto(other);
		gLogFile << "Adding agent " << this->_wm->_agentId << " to organism: " << organism->getId() << std::endl;
	} else if (this->isPartOfOrganism()) {
		Organism* organism = this->getOrganism();
		organism->addRobot(other);
		other->setOrganism(organism);

		this->addNeighbour(other);
		other->addNeighbour(gWorld->getAgent(this->_wm->_agentId));

		//other->clickOnto(this);
		gLogFile << "Adding agent " << other->_wm->_agentId << " to organism: " << organism->getId() << std::endl;
	} else {
		Organism* organism = new Organism();
		gLogFile << "Creating new organism: " << organism->getId() << " robots: " << this->_wm->_agentId << ", " << other->_wm->_agentId << std::endl;
		organism->addRobot(gWorld->getAgent(this->_wm->_agentId));
		organism->addRobot(other);

		this->setOrganism(organism);
		other->setOrganism(organism);

		this->addNeighbour(other);
		other->addNeighbour(gWorld->getAgent(this->_wm->_agentId));

		Organism::add(organism);

		//this->clickTogether(other);
	}
}