def scattered_obstacles(numobs, radius, sc_size):
"""Convenience function for randomly-scattered obstacles and their sprites.
Args:
numobs (positive int): Number of obstacles to generate.
radius (positive float): Obstacle radius.
obs_image (pygame.Surface): Obstacle image (shared among instances).
sc_size (int, int): Width, height of the display area, in pixels.
Returns:
(list, list): First list contains the SimpleObstacle2d's; 2nd their sprites.
Notes:
By default, this uses the same sprite class as BasePointMass2d.
"""
sc_width, sc_height = sc_size
yoffset = sc_height // (numobs + 2)
yvals = list(range(yoffset, sc_height - yoffset, yoffset))
shuffle(yvals)
obslist = list()
for i in range(numobs):
offset = (i + 1) / (numobs + 1)
rany = yvals[i]
new_pos = Point2d(offset * sc_width, rany)
obs_image = obstacle_bumper(radius)
obstacle = SimpleObstacle2d(new_pos, Point2d(0, 0), radius, obs_image)
obslist.append(obstacle)
obs_sprites = [obs.sprite for obs in obslist]
return obslist, obs_sprites
def __init__(self,
position,
velocity,
radius,
mass,
maxspeed,
maxforce,
spritedata=None):
# Non-constant Point2d's need to be copied
self.pos = copy.copy(position)
self.vel = copy.copy(velocity)
self.accumulated_force = Point2d(0, 0)
# Additional values; these should be mostly constant
self.radius = float(radius)
self.mass = float(mass)
self.maxspeed = float(maxspeed)
self.maxforce = float(maxforce)
# Normalized front vector in world coordinates; aligned with velocity.
try:
self.front = velocity.unit()
except ZeroDivisionError:
# If velocity is <0,0>, set facing to positive x-axis
self.front = Point2d(1.0, 0.0)
self.left = Point2d(-self.front[1], self.front[0])
# Optional sprite data
if self.__class__._spriteclass and spritedata is not None:
self.sprite = self.__class__._spriteclass(self, spritedata)
def test_vector_equals_magnitude_times_direction(self, x, y):
vtest = Point2d(x, y)
if vtest == Point2d(0, 0):
self.assertRaises(ZeroDivisionError)
elif isnan(x * x + y * y) or isinf(x * x + y * y):
self.assertRaises(OverflowError)
else:
vscaled = vtest.norm() * vtest.unit()
self.assertAlmostEqual(vtest.x, vscaled.x)
self.assertAlmostEqual(vtest.y, vscaled.y)
def test_cauchy_schwarz_inequality(self, a, b, c, d):
if isnan(a * a + b * b) or isinf(a * a + b * b):
self.assertRaises(OverflowError)
elif isnan(c * c + d * d) or isinf(c * c + d * d):
self.assertRaises(OverflowError)
else:
vtest = Point2d(a, b)
wtest = Point2d(c, d)
if isnan(vtest * wtest) or isnan(vtest.norm() * wtest.norm()):
self.assertRaises(OverflowError)
else:
self.assertLessEqual(abs(vtest * wtest),
vtest.norm() * wtest.norm())
def move(self, delta_t=1.0, force_vector=None):
"""Updates rectilinear position, velocity, and acceleration.
Args:
delta_t (float): Time increment since last move.
force_vector (Point2d, optional): Vector force to apply during this update.
If force_vector is None (the default), we use the force accumulated by
self.accumulate_force() since the last call to this method, and zero
out the accumulated force. Otherwise, apply the force_vector given, and
leave the accumulated force unaffected.
In any case, the maximum force and resulting velocity are limited by
maxforce and maxspeed attributes.
"""
# Update position using current velocity
self.pos = self.pos + delta_t * self.vel
# If no force_vector was given, use self-accumulated force.
if force_vector is None:
force_vector = copy.copy(self.accumulated_force)
self.accumulated_force.zero()
# Don't exceed our maximum force; compute acceleration
force_vector.truncate(self.maxforce)
accel = (delta_t / self.mass) * force_vector
# Compute new velocity, but don't exceed maximum speed.
self.vel = self.vel + accel
self.vel.truncate(self.maxspeed)
# Align heading to match our forward velocity. Note that
# if velocity is very small, skip this to avoid jittering.
if self.vel.sqnorm() > SPEED_EPSILON_SQ:
self.front = self.vel.unit()
self.left = Point2d(-self.front.y, self.front.x)
def test_rotations_are_orthogonal(self, x, y):
from math import pi
vtest = Point2d(x, y)
vperp = vtest.rotated_by(pi / 2)
vperp2 = vtest.rotated_by(-pi / 2)
self.assertAlmostEqual(vtest * vperp, 0.0)
self.assertAlmostEqual(vtest * vperp2, 0.0)
def test_length_of_unit_vectors(self, x, y):
assume(x * x + y * y != 0)
if isnan(x * x + y * y) or isinf(x * x + y * y):
self.assertRaises(OverflowError)
else:
vtest = Point2d(x, y)
u = vtest.unit()
vtest.normalize()
self.assertAlmostEqual(u.norm(), 1.0)
self.assertAlmostEqual(vtest.norm(), 1.0)
def __init__(self, center, length, thick, f_normal, spritedata=None):
# Positional data
self.pos = Point2d(center[0], center[1])
self.front = f_normal.unit()
self.left = self.front.left_normal()
self.rsq = (length / 2)**2
# Structural data
self.length = length
self.thick = thick
# Wall sprite
if self.__class__._spriteclass and spritedata is not None:
self.sprite = self.__class__._spriteclass(self, *spritedata)
def boundary_walls(sc_size, thick=10):
"""Convenience function to generate walls/sprites near the screen border.
Args:
sc_size (int, int): Width, height of the display area, in pixels.
thick (int, optional): Thickness of walls, in pixels.
Returns:
(list, list): List of BaseWall2d, List of BaseWall2dSprite.
"""
sc_width, sc_height = sc_size
wall_list = [
BaseWall2d((sc_width // 2, thick), sc_width, thick, Point2d(0, 1),
WALL_DATA),
BaseWall2d((sc_width // 2, sc_height - thick), sc_width, thick,
Point2d(0, -1), WALL_DATA),
BaseWall2d((thick, sc_height // 2), sc_height, thick, Point2d(1, 0),
WALL_DATA),
BaseWall2d((sc_width - thick, sc_height // 2), sc_height, thick,
Point2d(-1, 0), WALL_DATA)
]
wall_sprites = [wall.sprite for wall in wall_list]
return wall_list, wall_sprites
def test_xy_coords(self, x, y):
vtest = Point2d(x, y)
self.assertEqual(vtest.x, x)
self.assertEqual(vtest.y, y)
def test_negation_subtraction_inverses(self, x, y):
from aiboids.point2d import ZERO_VECTOR
vtest = Point2d(x, y)
self.assertEqual(vtest + (-vtest), ZERO_VECTOR)
self.assertEqual(vtest - vtest, ZERO_VECTOR)
def test_coordinate_addition(self, a, b, c, d):
vtest = Point2d(a, b) + Point2d(c, d)
self.assertEqual(vtest, Point2d(a + c, b + d))
sys.path.append(mypar)
from aiboids.point2d import Point2d
from aiboids.vehicle2d import SimpleVehicle2d
from aiboids import pgrender
if __name__ == "__main__":
# Display set-up
SCREEN_SIZE = (1024, 768)
SCREEN, BGCOLOR = pgrender.setup(SCREEN_SIZE,
'FLOCKING/EVADE steering demo.')
UPDATE_SPEED = 0.5
BORDER = 30
# Used to generate random positions for vehicles
randpoint = lambda: Point2d(randint(BORDER, SCREEN_SIZE[0] - BORDER),
randint(BORDER, SCREEN_SIZE[1] - BORDER))
# Vehicles (sheep/dog) and obstacle information
NUMSHEEP = 29
SHEEP_RADIUS = 20
DOG_RADIUS = 20
WHISKER_FRONT = SHEEP_RADIUS * 1.25
WHISKER_SIDES = SHEEP_RADIUS * 1.1
WALL_WHISKERS = [
WHISKER_FRONT * Point2d(1, 0), WHISKER_SIDES * Point2d(1, 1).unit(),
WHISKER_SIDES * Point2d(1, -1).unit()
]
NUMVEHICLES = NUMSHEEP + 1
NUMOBSTACLES = 12
# Amount of time spent flocking
def test_vector_norms(self, x, y):
if isnan(x * x + y * y) or isinf(x * x + y * y):
self.assertRaises(OverflowError)
else:
vtest = Point2d(x, y)
self.assertAlmostEqual(vtest.norm()**2, vtest.sqnorm())
def test_promote_integer_coords(self, x, y):
vtest = Point2d(x, y)
self.assertEqual(vtest.x, float(x))
self.assertEqual(vtest.y, float(y))
def test_zero_inplace(self, x, y):
vtest = Point2d(x, y)
vtest.zero()
self.assertEqual(vtest, Point2d(0, 0))
from aiboids.point2d import Point2d
from aiboids.vehicle2d import SimpleVehicle2d
from aiboids.steering import WaypointPath
from aiboids import pgrender
if __name__ == "__main__":
# Display set-up
SCREEN_SIZE = (800, 640)
screen, bgcolor = pgrender.setup(SCREEN_SIZE, 'Waypoints steering demo.')
UPDATE_SPEED = 1.0
BORDER = 30
# Used to generate random positions and velocities for vehicles
randpoint = lambda: Point2d(randint(BORDER, SCREEN_SIZE[0] - BORDER),
randint(BORDER, SCREEN_SIZE[1] - BORDER))
# Number of vehicles and obstacles
numveh = 2
numobs = 8
total = numveh + numobs
# Waypoint/path information
pathlen = 6
min_dist_sq = 80**2
# Load images
images = dict()
images['green'] = pgrender.boid_chevron(20, (0, 222, 0), (0, 0, 0))
images['yellow'] = pgrender.boid_chevron(20, (222, 222, 0), (0, 0, 0))
def test_rotations_are_orthogonal_in_degrees(self, x, y):
vtest = Point2d(x, y)
vperp = vtest.rotated_by(90, True)
vperp2 = vtest.rotated_by(-90, True)
self.assertAlmostEqual(vtest * vperp, 0.0)
self.assertAlmostEqual(vtest * vperp2, 0.0)
def test_orthogonal_dot_product(self, x, y):
if isnan(x * y) or isinf(x * y):
self.assertRaises(OverflowError)
else:
self.assertEqual(Point2d(x, y) * Point2d(y, -x), 0.0)
self.assertEqual(Point2d(x, y) * Point2d(-y, x), 0.0)
def negative_rotation_is_inverse(self, x, y, theta):
vtest = Point2d(x, y)
vrot = vtest.rotated_by(theta)
self.assertEqual(vtest, vrot.rotated_by(-theta))
def test_doubling_vs_addition(self, x, y):
vtest = Point2d(x, y)
self.assertEqual(2 * vtest, vtest + vtest)
def test_tuple_vs_coords(self, x, y):
vtest = Point2d(x, y)
self.assertEqual(vtest.ntuple, (vtest.x, vtest.y))
def test_for_zero_vector(self):
from aiboids.point2d import ZERO_VECTOR
self.assertEqual(ZERO_VECTOR, Point2d(0, 0))
self.assertIsNot(ZERO_VECTOR, Point2d(0, 0))
sys.path.append(mypar)
from aiboids.point2d import Point2d
from aiboids.vehicle2d import SimpleVehicle2d
from aiboids import pgrender
if __name__ == "__main__":
# Display set-up
SCREEN_SIZE = (1024, 768)
screen, bgcolor = pgrender.setup(SCREEN_SIZE,
'TAKECOVER/STALKING steering demo.')
BORDER = 30
UPDATE_SPEED = 0.5
# Used to generate random positions and velocities for vehicles
randpoint = lambda: Point2d(randint(BORDER, SCREEN_SIZE[0] - BORDER),
randint(BORDER, SCREEN_SIZE[1] - BORDER))
# Number of vehicles and obstacles
numveh = 3
numobs = 20
total = numveh + numobs
VEH_RADIUS = 20
WHISKER_FRONT = VEH_RADIUS * 1.25
WHISKER_SIDES = WHISKER_FRONT * 1.1
WALL_WHISKERS = [
WHISKER_FRONT * Point2d(1, 0), WHISKER_SIDES * Point2d(1, 1).unit(),
WHISKER_SIDES * Point2d(1, -1).unit()
]
OBS_RADIUS = 12
# Load images
mypar = os.path.abspath(os.path.join(mydir, os.pardir))
sys.path.append(mypar)
from aiboids.point2d import Point2d, ZERO_VECTOR
from aiboids.vehicle2d import BasePointMass2d, SimpleVehicle2d
from aiboids import pgrender
if __name__ == "__main__":
# Display set-up
SCREEN_SIZE = (800, 640)
screen, bgcolor = pgrender.setup(SCREEN_SIZE, 'SEEK/ARRIVE steering demo.')
UPDATE_SPEED = 1.0
BORDER = 30
# Used to generate random positions and velocities for vehicles
randpoint = lambda: Point2d(randint(BORDER, SCREEN_SIZE[0] - BORDER),
randint(BORDER, SCREEN_SIZE[1] - BORDER))
# Number of vehicles and obstacles
numveh = 3
numtargs = numveh
total = numveh + numtargs
# Images for pygame sprites
images = dict()
images['green'] = pgrender.boid_chevron(20, (0, 222, 0))
images['yellow'] = pgrender.boid_chevron(20, (222, 222, 0))
images['red'] = pgrender.boid_chevron(25, (222, 0, 0))
# Steering behaviour target images (generated here)
img_targ = pygame.Surface((5, 5))
img_targ.fill((0, 0, 0))
