def get_intersection(agent, ray, segment):
r_ptx = ray[0][0]
r_pty = ray[0][1]
r_dx = ray[1][0] - ray[0][0]
r_dy = ray[1][1] - ray[0][1]
sg_ptx = segment[0][0]
sg_pty = segment[0][1]
sg_dx = segment[1][0] - segment[0][0]
sg_dy = segment[1][1] - segment[0][1]
r_mag = vo.magnitude((r_dx, r_dy))
sg_mag = vo.magnitude((sg_dx, sg_dy))
if (r_dx / r_mag == sg_dx / sg_mag) and (r_dy / r_mag == sg_dy / sg_mag):
return None
t2 = (r_dx * (sg_pty - r_pty) + r_dy *
(r_ptx - sg_ptx)) / (sg_dx * r_dy - sg_dy * r_dx)
t1 = (sg_ptx + sg_dx * t2 - r_ptx) / (r_dx)
factor = t1
if t1 <= 0:
return None
if t2 < 0 or t2 > 1:
return None
#if t1 * t1 * (r_dx * r_dx + r_dy * r_dy) > agent.vision_range * agent.vision_range:
#factor = sqrt(agent.vision_range / (r_dx * r_dx + r_dy * r_dy));
x = r_ptx + r_dx * factor
y = r_pty + r_dy * factor
return ((x, y), t1)
def inside_bounding_circle(agent, wall):
v = ((wall[1][0] - wall[0][0]), (wall[1][1] - wall[0][1]))
center = agent.position
pt_v = ((center[0] - wall[0][0]), (center[1] - wall[0][1]))
v_magn = vo.magnitude(v)
unit_v = vo.unit_vector(v)
scalar_projection = pt_v[0] * unit_v[0] + pt_v[1] * unit_v[1]
if scalar_projection < 0: closest = wall[0]
elif scalar_projection > v_magn: closest = wall[1]
else:
proj_v = ((unit_v[0] * scalar_projection),
(unit_v[1] * scalar_projection))
closest = ((wall[0][0] + proj_v[0]), (wall[0][1] + proj_v[1]))
dist_v = vo.magnitude(((center[0] - closest[0]), (center[1] - closest[1])))
if dist_v < agent.vision_range:
return True
return False
def find_eigenvector(A, tolerance=0.00001):
guess = [random.random() for _ in A]
while True:
result = matrix_operate(A, guess)
length = magnitude(result)
next_guess = scalar_multiply(1 / length, result)
if distance(guess, next_guess) < tolerance:
return next_guess, length # eigenvector, eigenvalue
guess = next_guess
def find_eigenvector(A, tolerance=0.00001):
guess = [random.random() for _ in A]
while True:
result = matrix_operate(A, guess)
length = magnitude(result)
next_guess = scalar_multiply(1/length, result)
if distance(guess, next_guess) < tolerance:
return next_guess, length # eigenvector, eigenvalue
guess = next_guess
def find_eigenvector(m: Matrix, tolerance: float = 0.00001) -> Tuple[Vector, float]:
guess = [random.random() for _ in m]
while True:
result = matrix_times_vector(m, guess) # transform the guess
norm = magnitude(result) # compute the norm
next_guess = [x/norm for x in result] # rescale
if distance(guess, next_guess) < tolerance:
# convergence so return (eigenvector, eigenvalue)
return next_guess, norm
guess = next_guess
return 1 if (i,j) in friend_pairs or (j,i) in friend_pairs else 0
def calculate_visible_vertices(agent, map):
elements = get_rays(agent, map)
rays = elements[0]
walls = elements[1]
visible_vertices = []
for ray in rays:
intersection = get_closest_intersection(agent, ray, walls)
if intersection and intersection == ray[1]:
intersection_vector = ((intersection[0] - agent.position[0]),
(intersection[1] - agent.position[1]))
angle = vo.get_relative_angle(agent.orientation_reference_vector,
intersection_vector)
distance = vo.magnitude(intersection_vector)
visible_vertices.append((angle, distance))
visible_vertices.sort(key=lambda x: x[0])
return visible_vertices
def calculate_visible_vertices(agent, map, hash_table):
visible_vertices = []
agent_position = agent.position
rays = get_rays(agent_position, map)
for ray in rays:
intersection = get_closest_intersection(ray, map, hash_table)
if intersection and intersection == ray[1]:
intersection_vector = ((intersection[0] - agent.position[0]),
(intersection[1] - agent.position[1]))
angle = vo.get_relative_angle(agent.orientation_reference_vector,
intersection_vector)
distance = vo.magnitude(intersection_vector)
visible_vertices.append((angle, distance))
visible_vertices.sort(key=lambda x: x[0])
return visible_vertices
def direction(w):
mag = magnitude(w)
return [w_i / mag for w_i in w]
