added communications geometry

@agent/agent.m

@@ -28,6 +28,7 @@ classdef agent
 
         % Communication
         comRange = NaN;
+        commsGeometry = spherical;
 
         performance = 0;
 
@@ -35,6 +36,7 @@ classdef agent
         scatterPoints;
         debug = false;
         debugFig;
+        plotCommsGeometry = true;
     end
 
     methods (Access = public)

@agent/initialize.m

@@ -1,4 +1,4 @@
-function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label, debug)
+function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label, debug, plotCommsGeometry)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, 'agent')};
         pos (1, 3) double;
@@ -12,6 +12,7 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
         index (1, 1) double = NaN;
         label (1, 1) string = "";
         debug (1, 1) logical = false;
+        plotCommsGeometry (1, 1) logical = true;
     end
     arguments (Output)
         obj (1, 1) {mustBeA(obj, 'agent')};
@@ -24,10 +25,13 @@ function obj = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorMod
     obj.collisionGeometry = collisionGeometry;
     obj.sensorModel = sensorModel;
     obj.guidanceModel = guidanceModel;
-    obj.comRange = comRange;
     obj.index = index;
     obj.label = label;
     obj.debug = debug;
+    obj.plotCommsGeometry = plotCommsGeometry;
+
+    % Add spherical geometry based on com range
+    obj.commsGeometry = obj.commsGeometry.initialize(obj.pos, comRange, REGION_TYPE.COMMS, sprintf("Agent %d Comms Geometry", obj.index));
 
     if obj.debug
         obj.debugFig = figure;

@agent/plot.m

@@ -30,6 +30,11 @@ function [obj, f] = plot(obj, ind, f)
     % Plot collision geometry
     [obj.collisionGeometry, f] = obj.collisionGeometry.plotWireframe(ind, f);
 
+    % Plot communications geometry
+    if obj.plotCommsGeometry
+        [obj.commsGeometry, f] = obj.commsGeometry.plotWireframe(ind, f);
+    end
+
     % Plot FOV geometry
     [obj.fovGeometry, f] = obj.fovGeometry.plot(ind, f);
 end

@agent/updatePlots.m

@@ -25,6 +25,17 @@ function updatePlots(obj)
         end
     end
 
+    % Communications geometry edges
+    if obj.plotCommsGeometry
+        for jj = 1:size(obj.commsGeometry.lines, 2)
+            for ii = 1:size(obj.collisionGeometry.lines(:, jj), 1)
+                obj.collisionGeometry.lines(ii, jj).XData = obj.collisionGeometry.lines(ii, jj).XData + deltaPos(1);
+                obj.collisionGeometry.lines(ii, jj).YData = obj.collisionGeometry.lines(ii, jj).YData + deltaPos(2);
+                obj.collisionGeometry.lines(ii, jj).ZData = obj.collisionGeometry.lines(ii, jj).ZData + deltaPos(3);
+            end
+        end
+    end
+
     % Update FOV geometry surfaces
     for jj = 1:size(obj.fovGeometry.surface, 2)
         % Update each plot