- Timestamp:
- Jul 31, 2018 10:32:34 AM (6 years ago)
- Location:
- palm/trunk/SOURCE
- Files:
-
- 2 edited
-
multi_agent_system_mod.f90 (modified) (14 diffs)
-
netcdf_interface_mod.f90 (modified) (2 diffs)
Legend:
- Unmodified
- Added
- Removed
-
palm/trunk/SOURCE/multi_agent_system_mod.f90
r3165 r3187 25 25 ! ----------------- 26 26 ! $Id$ 27 ! Reworked agent pathfinding to avoid collisions with walls 28 ! 29 ! 3165 2018-07-24 13:12:42Z sward 27 30 ! Added agent ID output 28 31 ! … … 92 95 INTEGER(iwp) :: number_of_agent_groups = 1 !< namelist parameter (see documentation) 93 96 INTEGER(iwp) :: sort_count_mas = 0 !< counter for sorting agents 97 INTEGER(iwp) :: agt_path_size = 15 !< size of agent path array 94 98 INTEGER(iwp) :: step_dealloc_mas = 100 !< namelist parameter (see documentation) 95 99 INTEGER(iwp) :: total_number_of_agents !< total number of agents in the whole model domain … … 120 124 REAL(wp) :: alloc_factor_mas = 20.0_wp !< namelist parameter (see documentation) 121 125 REAL(wp) :: coll_t_0 = 3. !< namelist parameter (see documentation) 122 REAL(wp) :: corner_gate_start = 0. 7_wp !< namelist parameter (see documentation)126 REAL(wp) :: corner_gate_start = 0.5_wp !< namelist parameter (see documentation) 123 127 REAL(wp) :: corner_gate_width = 1.0_wp !< namelist parameter (see documentation) 124 128 REAL(wp) :: d_sigma_rep_agent !< inverse of sigma_rep_agent … … 128 132 REAL(wp) :: des_sp_sig = .2_wp !< namelist parameter (see documentation) 129 133 REAL(wp) :: dist_target_reached = 2.0_wp !< distance at which target counts as reached 130 REAL(wp) :: dist_to_int_target = .75_wp !< namelist parameter (see documentation) 131 REAL(wp) :: d_sqrt_2 = 1.0_wp/SQRT(2.) !< 1/sqrt(2) 132 REAL(wp) :: dt_agent = 0.016_wp !< namelist parameter (see documentation) 134 REAL(wp) :: dist_to_int_target = .25_wp !< namelist parameter (see documentation) 135 REAL(wp) :: dt_agent = 0.02_wp !< namelist parameter (see documentation) 133 136 REAL(wp) :: dt_arel = 9999999.9_wp !< namelist parameter (see documentation) 134 137 REAL(wp) :: end_time_arel = 9999999.9_wp !< namelist parameter (see documentation) 135 138 REAL(wp) :: force_x !< dummy value for force on current agent in x-direction 136 139 REAL(wp) :: force_y !< dummy value for force on current agent in y-direction 137 REAL(wp) :: max_dist_from_path = 1.0_wp!< distance from current path at which a new path is calculated140 REAL(wp) :: max_dist_from_path = 0.25_wp !< distance from current path at which a new path is calculated 138 141 REAL(wp) :: multi_agent_system_start = 0.0_wp !< namelist parameter (see documentation) 139 REAL(wp) :: radius_agent = .2 _wp!< namelist parameter (see documentation)142 REAL(wp) :: radius_agent = .25_wp !< namelist parameter (see documentation) 140 143 REAL(wp) :: repuls_agent = 1.5_wp !< namelist parameter (see documentation) 141 144 REAL(wp) :: repuls_wall = 7.0_wp !< namelist parameter (see documentation) … … 143 146 REAL(wp) :: scan_radius_wall = 2.0_wp !< namelist parameter (see documentation) 144 147 REAL(wp) :: sigma_rep_agent = 0.3_wp !< namelist parameter (see documentation) 145 REAL(wp) :: sigma_rep_wall = 0. 2_wp !< namelist parameter (see documentation)148 REAL(wp) :: sigma_rep_wall = 0.1_wp !< namelist parameter (see documentation) 146 149 REAL(wp) :: tau_accel_agent = 0.5_wp !< namelist parameter (see documentation) 147 150 REAL(wp) :: time_arel = 0.0_wp !< time for agent release 148 151 REAL(wp) :: time_write_agent_data = 0.0_wp !< write agent data at current time on file 149 152 REAL(wp) :: v_max_agent = 1.3_wp !< namelist parameter (see documentation) 150 153 154 REAL(wp), DIMENSION(:), ALLOCATABLE :: dummy_path_x !< dummy path (x-coordinate) 155 REAL(wp), DIMENSION(:), ALLOCATABLE :: dummy_path_y !< dummy path (y-coordinate) 151 156 152 157 REAL(wp), DIMENSION(max_number_of_agent_groups) :: adx = 9999999.9_wp !< namelist parameter (see documentation) … … 161 166 !-- Type for the definition of an agent 162 167 TYPE agent_type 163 INTEGER(iwp) :: block_nr 164 INTEGER(iwp) :: group 165 INTEGER(idp) :: id 166 INTEGER(iwp) :: path_counter 167 LOGICAL :: agent_mask 168 REAL(wp) :: age 169 REAL(wp) :: age_m 170 REAL(wp) :: dt_sum 171 REAL(wp) :: clo 172 REAL(wp) :: energy_storage 173 REAL(wp) :: force_x 174 REAL(wp) :: force_y 175 REAL(wp) :: origin_x 176 REAL(wp) :: origin_y 177 REAL(wp) :: pm10 178 REAL(wp) :: pm25 179 REAL(wp) :: speed_abs 180 REAL(wp) :: speed_e_x 181 REAL(wp) :: speed_e_y 182 REAL(wp) :: speed_des 183 REAL(wp) :: speed_x 184 REAL(wp) :: speed_y 185 REAL(wp) :: thermal_index 186 REAL(wp) :: windspeed 187 REAL(wp) :: x 188 REAL(wp) :: y 189 REAL(wp) :: t 190 REAL(wp) :: t_x 191 REAL(wp) :: t_y 168 INTEGER(iwp) :: block_nr !< number for sorting 169 INTEGER(iwp) :: group !< number of agent group 170 INTEGER(idp) :: id !< particle ID (64 bit integer) 171 INTEGER(iwp) :: path_counter !< current target along path (path_x/y) 172 LOGICAL :: agent_mask !< if this parameter is set to false the agent will be deleted 173 REAL(wp) :: age !< age of agent 174 REAL(wp) :: age_m !< age of agent 175 REAL(wp) :: dt_sum !< sum of agents subtimesteps 176 REAL(wp) :: clo !< clothing index 177 REAL(wp) :: energy_storage !< energy stored by agent 178 REAL(wp) :: force_x !< force term x-direction 179 REAL(wp) :: force_y !< force term y-direction 180 REAL(wp) :: origin_x !< origin x-position of agent 181 REAL(wp) :: origin_y !< origin y-position of agent 182 REAL(wp) :: pm10 !< PM10 concentration at agent position 183 REAL(wp) :: pm25 !< PM25 concentration at agent position 184 REAL(wp) :: speed_abs !< absolute value of agent speed 185 REAL(wp) :: speed_e_x !< normalized speed of agent in x 186 REAL(wp) :: speed_e_y !< normalized speed of agent in y 187 REAL(wp) :: speed_des !< agent's desired speed 188 REAL(wp) :: speed_x !< speed of agent in x 189 REAL(wp) :: speed_y !< speed of agent in y 190 REAL(wp) :: thermal_index !< the dynamic thermal index 191 REAL(wp) :: windspeed !< absolute value of windspeed at agent position 192 REAL(wp) :: x !< x-position 193 REAL(wp) :: y !< y-position 194 REAL(wp) :: t !< temperature 195 REAL(wp) :: t_x !< x-position 196 REAL(wp) :: t_y !< y-position 192 197 REAL(wp), DIMENSION(0:15) :: path_x !< agent path to target (x) 193 198 REAL(wp), DIMENSION(0:15) :: path_y !< agent path to target (y) … … 514 519 INTEGER(iwp) :: n !< loop variable over all agents in a grid box 515 520 INTEGER(iwp) :: pc !< agent path counter 521 INTEGER(iwp) :: nobo !< agent path counter 516 522 517 523 REAL(wp) :: abs_dir !< length of direction vector (for normalization) … … 535 541 !-- If no path was calculated for agent yet, do it 536 542 IF ( pc >= 999 ) THEN 537 538 agents(n)%path_x(0) = agents(n)%origin_x539 agents(n)%path_y(0) = agents(n)%origin_y540 543 CALL mas_nav_find_path(n) 541 544 pc = agents(n)%path_counter … … 577 580 !-- of her deviation from her current path 578 581 IF ( path_flag ) THEN 579 agents(n)%path_x(0) = agents(n)%path_x(pc-1)580 agents(n)%path_y(0) = agents(n)%path_y(pc-1)581 582 CALL mas_nav_find_path(n) 582 583 pc = agents(n)%path_counter … … 1006 1007 DO jl = nysg, nyng 1007 1008 ! 1009 !-- Exclude cyclic topography boundary 1010 IF ( il < 0 .OR. il > nx .OR. jl < 0 .OR. jl > ny ) CYCLE 1011 ! 1008 1012 !-- North edge 1009 1013 IF ( jl < nyng ) THEN … … 3065 3069 !-- Allocate agent arrays and set attributes of the initial set of 3066 3070 !-- agents, which can be also periodically released at later times. 3067 ALLOCATE( agt_count (nysg:nyng,nxlg:nxrg), 3071 ALLOCATE( agt_count (nysg:nyng,nxlg:nxrg), & 3068 3072 grid_agents(nysg:nyng,nxlg:nxrg) ) 3073 ! 3074 !-- Allocate dummy arrays for pathfinding 3075 ALLOCATE( dummy_path_x(0:agt_path_size), & 3076 dummy_path_y(0:agt_path_size) ) 3069 3077 3070 3078 number_of_agents = 0 … … 3084 3092 zero_agent%group = 0 3085 3093 zero_agent%id = 0_idp 3086 zero_agent%path_counter = SIZE(zero_agent%path_x)3094 zero_agent%path_counter = agt_path_size 3087 3095 zero_agent%age = 0.0_wp 3088 3096 zero_agent%age_m = 0.0_wp … … 3126 3134 END SUBROUTINE mas_init 3127 3135 3136 !------------------------------------------------------------------------------! 3137 ! Description: 3138 ! ------------ 3139 !> Finds the shortest path from a start position to a target position using the 3140 !> A*-algorithm 3141 !------------------------------------------------------------------------------! 3142 SUBROUTINE mas_nav_a_star( start_x, start_y, target_x, target_y, nsteps ) 3143 3144 IMPLICIT NONE 3145 3146 LOGICAL :: target_reached !< flag 3147 3148 INTEGER(iwp) :: cur_node !< current node of binary heap 3149 INTEGER(iwp) :: i_ag !< agent index 3150 INTEGER(iwp) :: il !< counter (x) 3151 INTEGER(iwp) :: jl !< counter (y) 3152 INTEGER(iwp) :: neigh_node !< neighbor node 3153 INTEGER(iwp) :: node_counter !< binary heap node counter 3154 INTEGER(iwp) :: path_ag !< index of agent path 3155 INTEGER(iwp) :: som !< size of mesh 3156 INTEGER(iwp) :: rn_side !< index of agent path 3157 INTEGER(iwp) :: steps !< steps along the path 3158 INTEGER(iwp) :: nsteps !< number of steps 3159 3160 REAL(wp) :: start_x !< x-coordinate agent 3161 REAL(wp) :: start_y !< y-coordinate agent 3162 REAL(wp) :: new_cost !< updated cost to reach node 3163 REAL(wp) :: new_priority !< priority of node to be added to queue 3164 REAL(wp) :: rand_nr !< x-coordinate target 3165 REAL(wp) :: rn_gate !< random number for corner gate 3166 REAL(wp) :: target_x !< x-coordinate target 3167 REAL(wp) :: target_y !< y-coordinate target 3168 ! 3169 !-- Coordinate Type 3170 TYPE coord 3171 REAL(wp) :: x !< x-coordinate 3172 REAL(wp) :: x_s !< x-coordinate (shifted) 3173 REAL(wp) :: y !< y-coordinate 3174 REAL(wp) :: y_s !< y-coordinate (shifted) 3175 END TYPE coord 3176 3177 TYPE(coord), DIMENSION(:), ALLOCATABLE, TARGET :: path !< path array 3178 TYPE(coord), DIMENSION(:), ALLOCATABLE, TARGET :: tmp_path !< temporary path for resizing 3179 3180 CALL cpu_log( log_point_s(20), 'mas_nav_find_path', 'start' ) 3181 node_counter = 0 3182 3183 ! 3184 !-- Create temporary navigation mesh including agent and target positions 3185 CALL mas_nav_create_tmp_mesh( start_x, start_y, target_x, target_y, som ) 3186 tmp_mesh(som)%cost_so_far = 0.0_wp 3187 ! 3188 !-- Initialize priority queue 3189 heap_count = 0_iwp 3190 ALLOCATE(queue(0:100)) 3191 target_reached = .FALSE. 3192 ! 3193 !-- Add starting point (agent position) to frontier (the frontier consists 3194 !-- of all the nodes that are to be visited. The node with the smallest 3195 !-- priority will be visited first. The priority consists of the distance 3196 !-- from the start node to this node plus a minimal guess (direct distance) 3197 !-- from this node to the goal). For the starting node, the priority is set 3198 !-- to 0, as it's the only node thus far 3199 CALL mas_heap_insert_item(som,0.0_wp) 3200 cur_node = som 3201 DO WHILE ( heap_count > 0 ) 3202 ! 3203 !-- Step one: Pick lowest priority item from queue 3204 node_counter = node_counter + 1 3205 CALL mas_heap_extract_item(cur_node) 3206 ! 3207 !-- Node 0 is the goal node 3208 IF ( cur_node == 0 ) THEN 3209 EXIT 3210 ENDIF 3211 ! 3212 !-- Loop over all of cur_node's neighbors 3213 DO il = 1, tmp_mesh(cur_node)%noc 3214 neigh_node = tmp_mesh(cur_node)%connected_vertices(il) 3215 ! 3216 !-- Check, if the way from the start node to this neigh_node via 3217 !-- cur_node is shorter than the previously found shortest path to it. 3218 !-- If so, replace said cost and add neigh_node to the frontier. 3219 !-- cost_so_far is initialized as 1.d12 so that all found distances 3220 !-- should be smaller. 3221 new_cost = tmp_mesh(cur_node)%cost_so_far & 3222 + tmp_mesh(cur_node)%distance_to_vertex(il) 3223 IF ( new_cost < tmp_mesh(neigh_node)%cost_so_far ) THEN 3224 tmp_mesh(neigh_node)%cost_so_far = new_cost 3225 tmp_mesh(neigh_node)%origin_id = cur_node 3226 ! 3227 !-- Priority in the queue is cost_so_far + heuristic to goal 3228 new_priority = new_cost & 3229 + heuristic(tmp_mesh(neigh_node)%x, & 3230 tmp_mesh(neigh_node)%y, tmp_mesh(0)%x, & 3231 tmp_mesh(0)%y) 3232 CALL mas_heap_insert_item(neigh_node,new_priority) 3233 ENDIF 3234 ENDDO 3235 ENDDO 3236 ! 3237 !-- Add nodes to a path array. To do this, we must backtrack from the target 3238 !-- node to its origin to its origin and so on until an node is reached that 3239 !-- has no origin (%origin_id == -1). This is the starting node. 3240 DEALLOCATE(queue) 3241 cur_node = 0 3242 steps = 0 3243 ALLOCATE(path(1:100)) 3244 DO WHILE ( cur_node /= -1 ) 3245 steps = steps + 1 3246 ! 3247 !-- Resize path array if necessary 3248 IF ( steps > SIZE(path) ) THEN 3249 ALLOCATE(tmp_path(1:steps-1)) 3250 tmp_path(1:steps-1) = path(1:steps-1) 3251 DEALLOCATE(path) 3252 ALLOCATE(path(1:2*(steps-1))) 3253 path(1:steps-1) = tmp_path(1:steps-1) 3254 DEALLOCATE(tmp_path) 3255 ENDIF 3256 path(steps)%x = tmp_mesh(cur_node)%x 3257 path(steps)%y = tmp_mesh(cur_node)%y 3258 path(steps)%x_s = tmp_mesh(cur_node)%x_s 3259 path(steps)%y_s = tmp_mesh(cur_node)%y_s 3260 cur_node = tmp_mesh(cur_node)%origin_id 3261 ENDDO 3262 ! 3263 !-- Add calculated intermittent targets to the path until either the 3264 !-- target or the maximum number of intermittent targets is reached. 3265 !-- Ignore starting point (reduce index by one), it is agent position. 3266 dummy_path_x = -1 3267 dummy_path_y = -1 3268 path_ag = 1 3269 steps = steps - 1 3270 nsteps = 0 3271 DO WHILE( steps > 0 .AND. path_ag <= agt_path_size ) 3272 ! 3273 !-- Each target point is randomly chosen along a line target along the 3274 !-- bisector of the building corner that starts at corner_gate_start 3275 !-- and has a width of corner_gate_width. This is to avoid clustering 3276 !-- when opposing agent groups try to reach the same corner target. 3277 rn_gate = random_function(iran_agent) * corner_gate_width & 3278 + corner_gate_start 3279 dummy_path_x(path_ag) = path(steps)%x + rn_gate & 3280 * (path(steps)%x_s - path(steps)%x) 3281 dummy_path_y(path_ag) = path(steps)%y + rn_gate & 3282 * (path(steps)%y_s - path(steps)%y) 3283 steps = steps - 1 3284 path_ag = path_ag + 1 3285 nsteps = nsteps + 1 3286 ENDDO 3287 ! 3288 !-- Set current intermittent target of this agent 3289 DEALLOCATE(tmp_mesh, path) 3290 CALL cpu_log( log_point_s(20), 'mas_nav_find_path', 'stop' ) 3291 3292 END SUBROUTINE mas_nav_a_star 3293 3128 3294 !------------------------------------------------------------------------------! 3129 3295 ! Description: … … 3324 3490 3325 3491 END SUBROUTINE mas_nav_create_tmp_mesh 3492 3326 3493 3327 3494 !------------------------------------------------------------------------------! 3328 3495 ! Description: 3329 3496 ! ------------ 3330 !> Finds the shortest path from agent position to target using A*-algorithm 3331 !------------------------------------------------------------------------------! 3332 SUBROUTINE mas_nav_find_path( i_ag ) 3497 !> Finds the shortest path from an agents' position to her target. As the 3498 !> actual pathfinding algorithm uses the obstacle corners and then shifts them 3499 !> outward after pathfinding, cases can uccur in which the connection between 3500 !> these intermittent targets then intersect with obstacles. To remedy this 3501 !> the pathfinding algorithm is then run on every two subsequent intermittent 3502 !> targets iteratively and new intermittent targets may be added to the path 3503 !> this way. 3504 !------------------------------------------------------------------------------! 3505 SUBROUTINE mas_nav_find_path( nl ) 3333 3506 3334 3507 IMPLICIT NONE 3335 3508 3336 LOGICAL :: target_reached !< flag 3337 3338 INTEGER(iwp) :: cur_node !< current node of binary heap 3339 INTEGER(iwp) :: i_ag !< agent index 3340 INTEGER(iwp) :: il !< counter (x) 3341 INTEGER(iwp) :: jl !< counter (y) 3342 INTEGER(iwp) :: neigh_node !< neighbor node 3343 INTEGER(iwp) :: node_counter !< binary heap node counter 3344 INTEGER(iwp) :: path_ag !< index of agent path 3345 INTEGER(iwp) :: som !< size of mesh 3346 INTEGER(iwp) :: rn_side !< index of agent path 3347 INTEGER(iwp) :: steps !< steps along the path 3348 3349 REAL(wp) :: a_x !< x-coordinate agent 3350 REAL(wp) :: a_y !< y-coordinate agent 3351 REAL(wp) :: new_cost !< updated cost to reach node 3352 REAL(wp) :: new_priority !< priority of node to be added to queue 3353 REAL(wp) :: rand_nr !< x-coordinate target 3354 REAL(wp) :: rn_gate !< random number for corner gate 3355 REAL(wp) :: t_x !< x-coordinate target 3356 REAL(wp) :: t_y !< y-coordinate target 3357 ! 3358 !-- Coordinate Type 3359 TYPE coord 3360 REAL(wp) :: x !< x-coordinate 3361 REAL(wp) :: x_s !< x-coordinate (shifted) 3362 REAL(wp) :: y !< y-coordinate 3363 REAL(wp) :: y_s !< y-coordinate (shifted) 3364 END TYPE coord 3365 3366 TYPE(coord), DIMENSION(:), ALLOCATABLE, TARGET :: path !< path array 3367 TYPE(coord), DIMENSION(:), ALLOCATABLE, TARGET :: tmp_path !< temporary path for resizing 3368 3369 CALL cpu_log( log_point_s(20), 'mas_nav_find_path', 'start' ) 3370 node_counter = 0 3371 a_x = agents(i_ag)%x 3372 a_y = agents(i_ag)%y 3373 t_x = agents(i_ag)%t_x 3374 t_y = agents(i_ag)%t_y 3375 3376 ! 3377 !-- Create temporary navigation mesh including agent and target positions 3378 CALL mas_nav_create_tmp_mesh( a_x, a_y, t_x, t_y, som ) 3379 tmp_mesh(som)%cost_so_far = 0.0_wp 3380 ! 3381 !-- Initialize priority queue 3382 heap_count = 0_iwp 3383 ALLOCATE(queue(0:100)) 3384 target_reached = .FALSE. 3385 ! 3386 !-- Add starting point (agent position) to frontier (the frontier consists 3387 !-- of all the nodes that are to be visited. The node with the smallest 3388 !-- priority will be visited first. The priority consists of the distance 3389 !-- from the start node to this node plus a minimal guess (direct distance) 3390 !-- from this node to the goal). For the starting node, the priority is set 3391 !-- to 0, as it's the only node thus far 3392 CALL mas_heap_insert_item(som,0.0_wp) 3393 cur_node = som 3394 DO WHILE ( heap_count > 0 ) 3395 ! 3396 !-- Step one: Pick lowest priority item from queue 3397 node_counter = node_counter + 1 3398 CALL mas_heap_extract_item(cur_node) 3399 ! 3400 !-- Node 0 is the goal node 3401 IF ( cur_node == 0 ) THEN 3402 EXIT 3509 INTEGER(iwp) :: nl !< local agent counter 3510 INTEGER(iwp) :: il !< local counter 3511 INTEGER(iwp) :: jl !< local counter 3512 INTEGER(iwp) :: kl !< local counter 3513 INTEGER(iwp) :: nsteps_total !< number of steps on path 3514 INTEGER(iwp) :: nsteps_dummy !< number of steps on path 3515 3516 REAL(wp), DIMENSION(0:30) :: ld_path_x !< local dummy agent path to target (x) 3517 REAL(wp), DIMENSION(0:30) :: ld_path_y !< local dummy agent path to target (y) 3518 ! 3519 !-- Initialize agent path arrays 3520 agents(nl)%path_x = -1 3521 agents(nl)%path_y = -1 3522 agents(nl)%path_x(0) = agents(nl)%x 3523 agents(nl)%path_y(0) = agents(nl)%y 3524 ! 3525 !-- Calculate initial path 3526 CALL mas_nav_a_star( agents(nl)%x, agents(nl)%y, & 3527 agents(nl)%t_x, agents(nl)%t_y, nsteps_total ) 3528 ! 3529 !-- Set the rest of the agent path that was just calculated 3530 agents(nl)%path_x(1:nsteps_total) = dummy_path_x(1:nsteps_total) 3531 agents(nl)%path_y(1:nsteps_total) = dummy_path_y(1:nsteps_total) 3532 ! 3533 !-- Iterate through found path and check more intermittent targets need 3534 !-- to be added. For this, run pathfinding between every two consecutive 3535 !-- intermittent targets. 3536 DO il = 0, MIN(agt_path_size-1, nsteps_total-1) 3537 ! 3538 !-- pathfinding between two consecutive intermittent targets 3539 CALL mas_nav_a_star( agents(nl)%path_x(il), agents(nl)%path_y(il), & 3540 agents(nl)%path_x(il+1), agents(nl)%path_y(il+1),& 3541 nsteps_dummy ) 3542 nsteps_dummy = nsteps_dummy - 1 3543 ! 3544 !-- If additional intermittent targets are found, add them to the path 3545 IF ( nsteps_dummy > 0 ) THEN 3546 ld_path_x = -1 3547 ld_path_y = -1 3548 ld_path_x(il+1:il+nsteps_dummy) = dummy_path_x(1:nsteps_dummy) 3549 ld_path_y(il+1:il+nsteps_dummy) = dummy_path_y(1:nsteps_dummy) 3550 kl = 1 3551 DO jl = il+1,nsteps_total 3552 ld_path_x( il+nsteps_dummy+kl ) = agents(nl)%path_x(jl) 3553 ld_path_y( il+nsteps_dummy+kl ) = agents(nl)%path_y(jl) 3554 kl = kl + 1 3555 IF ( kl > agt_path_size ) EXIT 3556 ENDDO 3557 nsteps_total = MIN(nsteps_total + nsteps_dummy, agt_path_size) 3558 agents(nl)%path_x(il+1:nsteps_total) = ld_path_x(il+1:nsteps_total) 3559 agents(nl)%path_y(il+1:nsteps_total) = ld_path_y(il+1:nsteps_total) 3403 3560 ENDIF 3404 ! 3405 !-- Loop over all of cur_node's neighbors 3406 DO il = 1, tmp_mesh(cur_node)%noc 3407 neigh_node = tmp_mesh(cur_node)%connected_vertices(il) 3408 ! 3409 !-- Check, if the way from the start node to this neigh_node via 3410 !-- cur_node is shorter than the previously found shortest path to it. 3411 !-- If so, replace said cost and add neigh_node to the frontier. 3412 !-- cost_so_far is initialized as 1.d12 so that all found distances 3413 !-- should be smaller. 3414 new_cost = tmp_mesh(cur_node)%cost_so_far & 3415 + tmp_mesh(cur_node)%distance_to_vertex(il) 3416 IF ( new_cost < tmp_mesh(neigh_node)%cost_so_far ) THEN 3417 tmp_mesh(neigh_node)%cost_so_far = new_cost 3418 tmp_mesh(neigh_node)%origin_id = cur_node 3419 ! 3420 !-- Priority in the queue is cost_so_far + heuristic to goal 3421 new_priority = new_cost & 3422 + heuristic(tmp_mesh(neigh_node)%x, & 3423 tmp_mesh(neigh_node)%y, tmp_mesh(0)%x, & 3424 tmp_mesh(0)%y) 3425 CALL mas_heap_insert_item(neigh_node,new_priority) 3426 ENDIF 3427 ENDDO 3561 3428 3562 ENDDO 3429 3563 ! 3430 !-- Pathfinding is done. Add nodes to a path array, then give the 3431 !-- first 15 intermittent targets to the agent. 3432 DEALLOCATE(queue) 3433 cur_node = 0 3434 steps = 0 3435 ALLOCATE(path(1:100)) 3436 DO WHILE ( cur_node /= -1 ) 3437 steps = steps + 1 3438 ! 3439 !-- Resize path array if necessary 3440 IF ( steps > SIZE(path) ) THEN 3441 ALLOCATE(tmp_path(1:steps-1)) 3442 tmp_path(1:steps-1) = path(1:steps-1) 3443 DEALLOCATE(path) 3444 ALLOCATE(path(1:2*(steps-1))) 3445 path(1:steps-1) = tmp_path(1:steps-1) 3446 DEALLOCATE(tmp_path) 3447 ENDIF 3448 path(steps)%x = tmp_mesh(cur_node)%x 3449 path(steps)%y = tmp_mesh(cur_node)%y 3450 path(steps)%x_s = tmp_mesh(cur_node)%x_s 3451 path(steps)%y_s = tmp_mesh(cur_node)%y_s 3452 cur_node = tmp_mesh(cur_node)%origin_id 3453 ENDDO 3454 ! 3455 !-- Add calculated intermittent targets to agent path until either the 3456 !-- target or the maximum number of intermittent targets is reached. 3457 !-- Ignore starting point (reduce index by one), it is agent position. 3458 path_ag = 1 3459 steps = steps - 1 3460 DO WHILE( steps > 0 .AND. path_ag < SIZE(agents(i_ag)%path_x) ) 3461 ! 3462 !-- Each target point is randomly chosen along a line target along the 3463 !-- bisector of the building corner that starts at corner_gate_start 3464 !-- and has a width of corner_gate_width. This is to avoid clustering 3465 !-- when opposing agent groups try to reach the same corner target. 3466 rn_gate = random_function(iran_agent) * corner_gate_width & 3467 + corner_gate_start 3468 agents(i_ag)%path_x(path_ag) = path(steps)%x + rn_gate & 3469 * (path(steps)%x_s - path(steps)%x) 3470 agents(i_ag)%path_y(path_ag) = path(steps)%y + rn_gate & 3471 * (path(steps)%y_s - path(steps)%y) 3472 steps = steps - 1 3473 path_ag = path_ag + 1 3474 ENDDO 3475 ! 3476 !-- Set current intermittent target of this agent 3477 agents(i_ag)%path_counter = 1 3478 DEALLOCATE(tmp_mesh, path) 3479 CALL cpu_log( log_point_s(20), 'mas_nav_find_path', 'stop' ) 3564 !-- reset path counter to first intermittent target 3565 agents(nl)%path_counter = 1 3480 3566 3481 3567 END SUBROUTINE mas_nav_find_path -
palm/trunk/SOURCE/netcdf_interface_mod.f90
r3165 r3187 25 25 ! ----------------- 26 26 ! $Id$ 27 ! Changed agent output to precision NF90_DOUBLE 28 ! 29 ! 3165 2018-07-24 13:12:42Z sward 27 30 ! Added agent ID output 28 31 ! … … 1992 1995 CALL netcdf_create_var( id_set_agt, (/ id_dim_agtnum, & 1993 1996 id_dim_time_agt /), agt_var_names(i), & 1994 nc_precision(8), id_var_agt(i), &1997 NF90_DOUBLE, id_var_agt(i), & 1995 1998 TRIM( agt_var_units(i) ), & 1996 1999 TRIM( agt_var_names(i) ), 339, 340, 341 )
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