def test_desired_force(generate_scene):
scene, config = generate_scene
f = forces.DesiredForce()
f.init(scene, config)
f.factor = 1.0
assert f.get_force(debug=True) == pytest.approx(
np.array([
[-3.83847763, -1.83847763],
[-1.74894926, -3.92384419],
[-4.6, -4.6],
[-6.10411508, -8.11779546],
[-10.93315315, -8.57753753],
]))
def make_forces(self, force_configs):
"""Construct forces"""
force_list = [
forces.DesiredForce(),
forces.SocialForce(),
forces.ObstacleForce(),
# forces.PedRepulsiveForce(),
# forces.SpaceRepulsiveForce(),
]
group_forces = [
forces.GroupCoherenceForceAlt(),
forces.GroupRepulsiveForce(),
forces.GroupGazeForceAlt(),
]
if self.scene_config("enable_group"):
force_list += group_forces
# initiate forces
for force in force_list:
force.init(self, force_configs)
return force_list