APPENDIX // if (iReset || centers == null) centers = new List(iStartingPositions); for( int c = 0; c < iterationCount; c++){ Point3dList centers3d = new Point3dList(centers); Point3dList curvePoints3d = new Point3dList(curvePoints); List totalMoves = new List(); List totalMovesToCurve = new List(); List collisionCounts = new List(); List> curveDistance = new List>(); List minDist = new List(); List closestPointOnCurve = new List(); List weightOfPoints = new List(); //PointCloud curvePointCloud = new PointCloud(curvePoints); for (int i = 0; i < centers.Count; i++) { totalMoves.Add(new Vector3d(0.0, 0.0, 0.0)); totalMovesToCurve.Add(new Vector3d(0.0, 0.0, 0.0)); collisionCounts.Add(0.0); minDist.Add(0.0); closestPointOnCurve.Add(new Point3d(0, 0, 0)); weightOfPoints.Add(0.0); } for (int i = 0; i < centers3d.Count; i++) { int closestIndex = curvePoints3d.ClosestIndex(centers3d[i]); closestPointOnCurve[i] = curvePoints3d[closestIndex]; weightOfPoints[i] = curveWeights[clos- 146 PRELIMINARY EXPERIMENTS estIndex]; } oMinDist = closestPointOnCurve; //This is gonna move the circles away from the curve points for (int i = 0; i < centers.Count; i++) { double d = centers[i].DistanceTo(closestPointOnCurve[i]); if (d > collisionDistance) { // move towards curve points Vector3d move = centers[i] - closestPointOnCurve[i]; move.Unitize(); move *= 1 * (weightOfPoints[i] - d); totalMoves[i] += move; collisionCounts[i] += 1.0; } else { // move away from curve points Vector3d move = centers[i] - closestPointOnCurve[i]; move.Unitize(); move *= -1 * (weightOfPoints[i] - d); totalMoves[i] += move; collisionCounts[i] += 1.0; } } //-----------------------------------------------------------------------------------------//FOLLOWING CODE MOVES CIRCLES AWAY FROM EACH OTHER //------------------------------------------------------------------------------------------ APPENDIX PRELIMINARY EXPERIMENTS Vector3d move = centers[i] - centers[j]; move.Unitize(); move *= 0.5 * (collisionDistance - d); totalMoves[i] += move; totalMoves[j] -= move; collisionCounts[i] += 1.0; collisionCounts[j] += 1.0; } for (int i = 0; i < centers.Count; i++) if (collisionCounts[i] != 0.0) centers[i] += (totalMoves[i] + totalMovesToCurve[i]) / collisionCounts[i]; ;// Aca adicionamos movimiento alejandose de la curva } oCenters = centers; //-------------------------------------------------------//-------------------------------------------------------} // List centers; for (int i = 0; i < centers.Count; i++) for (int j = i + 1; j < centers.Count; j++) { double d = centers[i].DistanceTo(centers[j]); if (d > collisionDistance) continue; 147

INFRASONIC