Add sample tracking behavior

source/Behavior/Behavior.ts

@@ -12,6 +12,7 @@ import { DirectionCluster } from "@Behavior/DirectionCluster";
 import { CentralCluster } from "@Behavior/CentralCluster";
 import { Manufacture } from "@Behavior/Manufacture";
 import { Wastage } from "@Behavior/Wastage";
+import { SampleTracking } from "@Behavior/SampleTracking";
 
 const AllBehaviors: IAnyBehaviorRecorder[] = [
     new BehaviorRecorder(Template),
@@ -27,6 +28,7 @@ const AllBehaviors: IAnyBehaviorRecorder[] = [
     new BehaviorRecorder(CentralCluster),
     new BehaviorRecorder(Manufacture),
     new BehaviorRecorder(Wastage),
+    new BehaviorRecorder(SampleTracking),
 ]
 
 /**

source/Behavior/SampleTracking.ts

@@ -0,0 +1,154 @@
+import { Behavior } from "@Model/Behavior";
+import { Group } from "@Model/Group";
+import { Individual } from "@Model/Individual";
+import { Model } from "@Model/Model";
+
+type ISampleTrackingBehaviorParameter = {
+    target: "CLG",
+	strength: "number",
+    range: "number",
+    angle: "number",
+    accuracy: "number"
+}
+
+type ISampleTrackingBehaviorEvent = {}
+
+class SampleTracking extends Behavior<ISampleTrackingBehaviorParameter, ISampleTrackingBehaviorEvent> {
+
+    public override behaviorId: string = "SampleTracking";
+
+    public override behaviorName: string = "$Title";
+
+    public override iconName: string = "Video360Generic";
+
+    public override describe: string = "$Intro";
+
+    public override category: string = "$Initiative";
+
+	public override parameterOption = {
+		target: { type: "CLG", name: "$Target" },
+        range: { type: "number", name: "$Range", defaultValue: 4, numberMin: 0, numberStep: .1 },
+        angle: { type: "number", name: "$Angle", defaultValue: 180, numberMin: 0, numberMax: 360, numberStep: 5 },
+		strength: { type: "number", name: "$Strength", defaultValue: 1, numberMin: 0, numberStep: .1 },
+        accuracy: { type: "number", name: "$Accuracy", defaultValue: 5, numberMin: 0, numberMax: 180, numberStep: 1 }
+	};
+
+    private angle2Vector(v1: number[], v2: number[]): number {
+		return Math.acos(
+			(v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2]) /
+			(
+				(v1[0] ** 2 + v1[1] ** 2 + v1[2] ** 2) ** 0.5 *
+				(v2[0] ** 2 + v2[1] ** 2 + v2[2] ** 2) ** 0.5
+			)
+		) * 180 / Math.PI;
+	}
+
+    public effect = (individual: Individual, group: Group, model: Model, t: number): void => {
+
+        const dirArr: number[][] = []; const valArr: number[] = [];
+
+        for (let i = 0; i < this.parameter.target.objects.length; i++) {
+            const targetGroup = this.parameter.target.objects[i];
+
+			targetGroup.individuals.forEach((targetIndividual) => {
+
+                // 计算距离
+                let dis = targetIndividual.distanceTo(individual);
+                if (dis > this.parameter.range) return;
+
+                // 计算方向
+                let targetDir = [
+                    targetIndividual.position[0] - individual.position[0],
+                    targetIndividual.position[1] - individual.position[1],
+                    targetIndividual.position[2] - individual.position[2]
+                ];
+
+                // 计算视线角度
+                let angle = this.angle2Vector(individual.velocity, targetDir);
+
+                // 在可视角度内
+                if (angle < (this.parameter.angle ?? 360) / 2) {
+
+                    // 采样
+                    let isFindNest = false;
+                    for (let i = 0; i < valArr.length; i++) {
+
+                        // 计算采样角度
+                        let sampleAngle = this.angle2Vector(dirArr[i], targetDir);
+
+                        // 小于采样精度，合并
+                        if (sampleAngle < this.parameter.accuracy ?? 5) {
+                            dirArr[i][0] += targetDir[0];
+                            dirArr[i][1] += targetDir[1];
+                            dirArr[i][2] += targetDir[2];
+                            valArr[i] += targetIndividual.getData("Wastage.Pheromone") ?? 0;
+                            isFindNest = true;
+                        }
+                    }
+
+                    if (!isFindNest) {
+
+                        // 保存
+                        dirArr.push(targetDir);
+                        valArr.push(targetIndividual.getData("Wastage.Pheromone") ?? 0);
+                    }
+                }
+            });
+        }
+
+        // 计算最大方向
+        let maxVal = -1; let maxDir: number[] | undefined;
+        for (let i = 0; i < valArr.length; i++) {
+            if (valArr[i] > maxVal) {
+                maxVal = valArr[i];
+                maxDir = dirArr[i];
+            }
+        }
+
+        if (maxDir) {
+            const dir = individual.vectorNormalize(maxDir);
+            individual.applyForce(
+                dir[0] * this.parameter.strength,
+                dir[1] * this.parameter.strength,
+                dir[2] * this.parameter.strength
+            );
+        }
+    }
+
+	public override terms: Record<string, Record<string, string>> = {
+        "$Title": {
+            "ZH_CN": "采样追踪",
+            "EN_US": "Sample tracking"
+        },
+		"$Target": {
+			"ZH_CN": "追踪目标",
+			"EN_US": "Tracking target"
+		},
+        "$Accuracy": {
+            "ZH_CN": "采样精度",
+			"EN_US": "Sampling accuracy"
+        },
+        "$Range": {
+            "ZH_CN": "追踪范围 (m)",
+			"EN_US": "Tracking range (m)"
+        },
+		"$Strength": {
+			"ZH_CN": "追踪强度系数",
+			"EN_US": "Tracking intensity coefficient"
+		},
+        "$Intro": {
+            "ZH_CN": "个体将主动向目标个体较多的方向发起追踪",
+            "EN_US": "Individuals will actively initiate tracking in the direction of more target individuals"
+        },
+		"$Interactive": {
+			"ZH_CN": "交互",
+            "EN_US": "Interactive"
+		},
+        "$Angle": {
+            "ZH_CN": "可视角度",
+            "EN_US": "Viewing angle"
+        }
+    };
+}
+
+export { SampleTracking };