def animate(self, obstacles): forward_list = list(linspace(ANIMATION_MIN, ANIMATION_MAX, ANIMATION_FRAMES/2)) backward_list = list(linspace(ANIMATION_MAX, ANIMATION_MIN, ANIMATION_FRAMES/2)) #print forward_list anim_points = forward_list + backward_list gp = GnuplotProcess(persist=False) gp.write(self.gnuplot_header(-WORLDSIZE / 4, WORLDSIZE / 4)) gp.write(self.draw_obstacles(obstacles))
class KalmanViz(object):
def __init__(self, world_size):
self.gp = GnuplotProcess(persist=False)
self.gp.write(self.gnuplot_header(-world_size / 2, world_size / 2))
def gnuplot_header(self, minimum, maximum):
'''Return a string that has all of the gnuplot sets and unsets.'''
s = ''
s += 'set xrange [%s: %s]\n' % (minimum, maximum)
s += 'set yrange [%s: %s]\n' % (minimum, maximum)
s += 'set pm3d\n'
s += 'set view map\n'
# The key is just clutter. Get rid of it:
s += 'unset key\n'
# Make sure the figure is square since the world is square:
s += 'set size square\n'
# Add a pretty title (optional):
s += "set title 'Kalman Filter Output'\n"
# set what color scheme to use
s += 'set palette model XYZ functions gray**0.35, gray**0.5, gray**0.8\n'
# How fine the plotting should be, at some processing cost:
s += 'set isosamples 100\n'
return s
def draw_noise(self, sigma_x, sigma_y, rho, mu_x, mu_y):
# set up the values and plot them
s = ''
s += 'sigma_x = %s\n' % sigma_x
s += 'sigma_y = %s\n' % sigma_y
s += 'rho = %s\n' % rho
s += 'mu_x = %s\n' % mu_x
s += 'mu_y = %s\n' % mu_y
piece_1 = '1.0 / (2.0 * pi * sigma_x * sigma_y * sqrt(1 - rho**2))'
piece_2 = '-1.0 / (2.0 * (1.0 - rho**2))'
piece_3 = '(x - mu_x)**2 / sigma_x**2'
piece_4 = '(y - mu_y)**2 / sigma_y**2'
piece_5 = '(2.0 * rho * (x - mu_x) * (y - mu_y)) / (sigma_x * sigma_y)'
s += 'splot %s * exp(%s * (%s + %s - %s)) with pm3d\n' % (piece_1, piece_2, piece_3, piece_4, piece_5)
return s
def update_values(self, sigma_x, sigma_y, rho, mu_x, mu_y):
self.gp.write(self.draw_noise(sigma_x, sigma_y, rho, mu_x, mu_y))
self.gp.flush()
def destroy(self):
self.gp.write('exit')
self.gp.flush()
class GnuPlotter(object):
def __init__(self):
self.gnuprocess = GnuplotProcess(persist=False)
self.gnuprocess.write(self.plot_file_base())
def plot_file_base(self):
header = ''
header += "set xrange [-400.0: 400.0]\n"
header += "set yrange [-400.0: 400.0]\n"
header += "set pm3d\n"
header += "set view map\n"
header += "unset key\n"
header += "set size square\n\n"
header += "set palette model RGB functions 1-gray, 1-gray, 1-gray\n"
header += "set isosamples 100\n"
return header
def plot(self,rho,sigma_x,sigma_y, x, y):
# print rho
# print sigma_x
# print sigma_y
# print x
# print y
plot = ''
plot += "sigma_x = %f\n" % sigma_x
plot += "sigma_y = %f\n" % sigma_y
plot += "mu_x = %f\n" % x
plot += "mu_y = %f\n" % y
plot += "rho = %f\n" % rho
plot += "splot 1.0/(2.0 * pi * sigma_x * sigma_y * sqrt(1 - rho**2) ) \\\n"
plot += "* exp(-1.0/2.0 * ((x-mu_x)**2 / sigma_x**2 + (y-mu_y)**2 / sigma_y**2 \\\n"
plot += "- 2.0*rho*x*y/(sigma_x*sigma_y) ) ) with pm3d\n\n"
self.gnuprocess.write(plot)
self.gnuprocess.flush()
def remove(self):
self.gnuprocess.write('exit')
self.gnuprocess.flush()
def plot(caller, func):
gp = GnuplotProcess(persist=True)
forward_list = list(linspace(ANIMATION_MIN, ANIMATION_MAX, ANIMATION_FRAMES/2))
backward_list = list(linspace(ANIMATION_MAX, ANIMATION_MIN, ANIMATION_FRAMES/2))
anim_points = forward_list + backward_list
gp.write(gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2))
gp.write(draw_obstacles(caller.obstacles))
gp.write(draw_bases(caller.bases))
field_function = func() #caller.generate_field_function(1)
#field_function = generate_field_function(scale)
gp.write(plot_field(field_function))
def __init__(self, bzrc):
self.bzrc = bzrc
self.constants = self.bzrc.get_constants()
self.commands = []
self.tanks = {}
self.bases = bzrc.get_bases()
for base in self.bases:
if base.color == self.constants['team']:
self.base = base
self.WORLDSIZE = int(self.constants['worldsize'])
self.gp = GnuplotProcess(persist=False)
self.gp.write(gnuplot_header(-self.WORLDSIZE / 2, self.WORLDSIZE / 2))
def __init__(self, WS, OB):
"""Initialize variables"""
self.worldSize=WS
self.obstacles=OB
self.counter=0
self.step=1000
try:
from Gnuplot import GnuplotProcess
except ImportError:
print "Sorry. You don't have the Gnuplot module installed."
import sys
sys.exit(-1)
self.gp = GnuplotProcess(persist=True)
self.gp.write(self.draw_obstacles(self.obstacles))
def visualize(self):
time.sleep(1)
forward_list = list(
linspace(self.ANIMATION_MIN, self.ANIMATION_MAX,
self.ANIMATION_FRAMES / 2))
backward_list = list(
linspace(self.ANIMATION_MAX, self.ANIMATION_MIN,
self.ANIMATION_FRAMES / 2))
anim_points = forward_list + backward_list
lastTime = time.time()
gp = GnuplotProcess(persist=False)
gp.write(self.gnuplot_header(-self.WORLDSIZE / 2, self.WORLDSIZE / 2))
gp.write(self.draw_obstacles(self.OBSTACLES))
for scale in cycle(anim_points):
self.mytanks, self.othertanks, self.flags, shots = self.BZRC.get_lots_o_stuff(
)
field_function = self.generate_field_function(scale)
gp.write(self.plot_field(field_function))
def animate_changing_field(self):
########################################################################
# Animate a changing field, if the Python Gnuplot library is present
try:
from Gnuplot import GnuplotProcess
except ImportError:
print "Sorry. You don't have the Gnuplot module installed."
import sys
sys.exit(-1)
forward_list = list(linspace(self.ANIMATION_MIN, self.ANIMATION_MAX, self.ANIMATION_FRAMES/2))
backward_list = list(linspace(self.ANIMATION_MAX, self.ANIMATION_MIN, self.ANIMATION_FRAMES/2))
anim_points = forward_list + backward_list
gp = GnuplotProcess(persist=False)
gp.write(self.gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2))
gp.write(self.draw_obstacles(self.obstacles))
for scale in cycle(anim_points):
field_function = self.generate_field_function()
gp.write(self.plot_field(field_function))
class ANIMATION:
def __init__(self, WS, OB):
"""Initialize variables"""
self.worldSize=WS
self.obstacles=OB
self.counter=0
self.step=1000
try:
from Gnuplot import GnuplotProcess
except ImportError:
print "Sorry. You don't have the Gnuplot module installed."
import sys
sys.exit(-1)
self.gp = GnuplotProcess(persist=True)
self.gp.write(self.draw_obstacles(self.obstacles))
def animate(self,orderedVisits, color):
self.gp.write(self.gnuplot_header(-self.worldSize / 2, self.worldSize / 2))
self.gp.write(self.draw_nodes(orderedVisits,color))
def animateTuples(self,orderedVisits, color):
self.gp.write(self.gnuplot_header(-self.worldSize / 2, self.worldSize / 2))
self.gp.write(self.draw_node_tuples(orderedVisits,color))
def draw_nodes(self,nodes,color):
'''Return a string which tells Gnuplot to draw all of the obstacles.'''
#s = 'unset arrow\n'
s = ''
last_point = nodes[0]
for cur_point in nodes[1:-1]:
s += self.draw_line_pause(last_point, cur_point, color)
last_point = cur_point
self.counter = self.step
s+= self.draw_line_pause(last_point, nodes[-1], color)
return s
def draw_node_tuples(self,nodes,color):
'''Return a string which tells Gnuplot to draw all of the obstacles.'''
#s = 'unset arrow\n'
s = ''
for cur_point in nodes:
s += self.draw_line_pause(cur_point[0], cur_point[1], color)
return s
def gnuplot_header(self,minimum, maximum):
'''Return a string that has all of the gnuplot sets and unsets.'''
s = ''
s += 'set xrange [%s: %s]\n' % (minimum, maximum)
s += 'set yrange [%s: %s]\n' % (minimum, maximum)
# The key is just clutter. Get rid of it:
s += 'unset key\n'
# Make sure the figure is square since the world is square:
s += 'set size square\n'
# Add a pretty title (optional):
#s += "set title 'Potential Fields'\n"
return s
def draw_obstacles(self,obstacles):
'''Return a string which tells Gnuplot to draw all of the obstacles.'''
s = 'unset arrow\n'
brown=3
for obs in obstacles:
last_point = obs[0]
for cur_point in obs[1:]:
s += self.draw_line(last_point, cur_point, brown)
last_point = cur_point
s += self.draw_line(last_point, obs[0], brown)
return s
def draw_line(self,p1, p2,color):
'''Return a string to tell Gnuplot to draw a line from point p1 to
point p2 in the form of a set command.'''
x1 = p1[0]
y1 = p1[1]
x2 = p2[0]
y2 = p2[1]
s='set arrow from %s, %s to %s, %s nohead lt %d\n' % (x1, y1, x2, y2 ,color)
return s
def draw_line_pause(self, p1, p2, color):
'''Return a string to tell Gnuplot to draw a line from point p1 to
point p2 in the form of a set command.'''
x1 = p1[0]
y1 = p1[1]
x2 = p2[0]
y2 = p2[1]
s='set arrow from %s, %s to %s, %s nohead lt %d\n' % (x1, y1, x2, y2 ,color)
if self.counter % self.step == 0:
s+="\nplot '-' with lines\n0 0 0 0\ne\npause %f\n" % (0)
self.counter = 0
self.counter += 1
return s
# Plot the potential fields to a file
outfile = open(FILENAME, 'w')
print >>outfile, gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2, 70, 100, 0, 300, 100)
########################################################################
# Animate a changing field, if the Python Gnuplot library is present
try:
from Gnuplot import GnuplotProcess
except ImportError:
print "Sorry. You don't have the Gnuplot module installed."
import sys
sys.exit(-1)
forward_list = list(linspace(ANIMATION_MIN, ANIMATION_MAX, ANIMATION_FRAMES/2))
backward_list = list(linspace(ANIMATION_MAX, ANIMATION_MIN, ANIMATION_FRAMES/2))
anim_points = forward_list + backward_list
track_enemy_field_gen.vector_at(0,0)
sigma_x, sigma_y, x, y = track_enemy_field_gen.get_sigma_t()
gp = GnuplotProcess(persist=False)
gp.write(gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2, sigma_x, sigma_y, 0, x, y))
for scale in cycle(anim_points):
track_enemy_field_gen.vector_at(0,0)
sigma_x, sigma_y, x, y = track_enemy_field_gen.get_sigma_t()
gp.write(gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2, sigma_x, sigma_y, 0, x, y))
print >> sys.stderr, '%s: incorrect number of arguments' % execname
print >> sys.stderr, 'usage: %s hostname port' % sys.argv[0]
sys.exit(-1)
x = 0
for f in flags:
if f.color == flagColor:
FLAG_INT = x
x += 1
forward_list = list(
linspace(ANIMATION_MIN, ANIMATION_MAX, ANIMATION_FRAMES / 2))
backward_list = list(
linspace(ANIMATION_MAX, ANIMATION_MIN, ANIMATION_FRAMES / 2))
anim_points = forward_list + backward_list
lastTime = time.time()
gp = GnuplotProcess(persist=False)
gp.write(gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2))
gp.write(draw_obstacles(OBSTACLES))
for scale in cycle(anim_points):
# if ((time.time() - lastTime) > 1):
# print 'hello world'
# lastTime = time.time()
time.sleep(.3)
mytanks, othertanks, flags, shots = BZRC.get_lots_o_stuff()
f = flags[FLAG_INT]
# print 'hello world'
field_function = generate_field_function(scale)
gp.write(plot_field(field_function))
# vim: et sw=4 sts=4
def display(flags, bases, obstacles, field_function):
try:
from Gnuplot import GnuplotProcess
except ImportError:
print "Sorry. You don't have the Gnuplot module installed."
import sys
sys.exit(-1)
gp = GnuplotProcess(persist=True)
gp.write(gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2))
gp.write(unset_arrow())
gp.write(draw_flags(flags))
gp.write(draw_bases(bases))
gp.write(draw_obstacles(obstacles))
gp.write(plot_field(field_function))
from Gnuplot import GnuplotProcess
except ImportError:
print "Sorry. You don't have the Gnuplot module installed."
import sys
sys.exit(-1)
#forward_list = list(linspace(ANIMATION_MIN, ANIMATION_MAX, ANIMATION_FRAMES/2))
#backward_list = list(linspace(ANIMATION_MAX, ANIMATION_MIN, ANIMATION_FRAMES/2))
#anim_points = forward_list + backward_list
plotter = PFieldPlotter()
agent = Agent(plotter)
agent.update()
headers = plotter.gnuplot_header(-plotter.WORLDSIZE / 2, plotter.WORLDSIZE / 2)
vectors = plotter.plot_field(agent)
gp = GnuplotProcess(persist=True)
gp.write(headers)
gp.write(vectors)
# animate
#for scale in cycle(anim_points):
# field_function = generate_field_function(scale)
# gp.write(plot_field(field_function))
outfile = open('fields.gpi', 'w')
print >>outfile, headers
print >>outfile, vectors
# vim: et sw=4 sts=4
class Agent(object):
"""Class handles all command and control logic for a teams tanks."""
def __init__(self, bzrc):
self.bzrc = bzrc
self.constants = self.bzrc.get_constants()
self.commands = []
self.tanks = {}
self.bases = bzrc.get_bases()
for base in self.bases:
if base.color == self.constants['team']:
self.base = base
self.WORLDSIZE = int(self.constants['worldsize'])
self.gp = GnuplotProcess(persist=False)
self.gp.write(gnuplot_header(-self.WORLDSIZE / 2, self.WORLDSIZE / 2))
def tick(self, time_diff):
"""Some time has passed; decide what to do next."""
mytanks, othertanks, flags, shots = self.bzrc.get_lots_o_stuff()
self.mytanks = mytanks
self.othertanks = othertanks
self.flags = flags
self.shots = shots
self.obstacles = self.bzrc.get_obstacles()
self.enemies = [tank for tank in othertanks if tank.color !=
self.constants['team']]
self.commands = []
for tank in mytanks:
if tank.index == 0:
self.behave(tank, time_diff)
else:
self.behave(tank, time_diff)
results = self.bzrc.do_commands(self.commands)
def closest_flag(self, flags, tank, flags_captured):
closest_dist = sys.maxint
chosen_flag = flags[0]
for flag in flags:
distance = compute_distance(flag.x, tank.x, flag.y, tank.y)
if distance < closest_dist and not flags_captured.__contains__(flag.color):
closest_dist = distance
chosen_flag = flag
return chosen_flag
# def get_obstacle_center_and_radius(self, obstacle):
# x_total = 0
# y_total = 0
# for index, value in obstacle:
# if index % 2 == 0:
# x_total += value
# else:
# y_total += value
# x_average = x_total / len(obstacle) / 2
# y_average = y_total / len(obstacle) / 2
# current_x = None
# total_distance_from_center = 0
# for index, value in obstacle:
# if index % 2 == 0:
# current_x = value
# else:
# total_distance_from_center += compute_distance(current_x, x_average, value, y_average)
# average_radius = total_distance_from_center / len(obstacle) / 2
# return x_average, y_average, average_radius
def behave(self, tank, time_diff, plot=False):
"""Create a behavior command based on potential fields.
Plot the potential field if plot is True.
"""
bag_o_fields = []
# avoid enemies
for enemy in self.enemies:
if enemy.status == self.constants['tankalive']:
bag_o_fields.append(make_circle_repulsion_function(enemy.x, enemy.y, int(self.constants['tanklength']), int(self.constants['tanklength'])*5, 2))
#avoid obstacles
#~ for obstacle in self.obstacles:
#~ # x, y, r = self.get_obstacle_center_and_radius(obstacle)
#~ current_x = None
#~ for index, value in obstacle:
#~ if index % 2 == 0:
#~ current_x = value
#~ else:
#~ bag_o_fields.append(make_circle_repulsion_function(current_x, value, 10, 20, 20))
# avoid shots
for shot in self.shots:
bag_o_fields.append(make_circle_repulsion_function(shot.x, shot.y, int(self.constants['tanklength']), int(self.constants['tanklength'])*3, 2))
enemy_flags = []
for flag in self.flags:
if flag.color != self.constants['team']:
enemy_flags.append(flag)
else:
our_flag = flag
#if another tank on your team has a flag, that tank becomes a tangential field
#also, make sure that any flag that a teammate is carrying is no longer attractive
flags_captured = []
for my_tank in self.mytanks:
if my_tank != tank and my_tank.flag != "-":
bag_o_fields.append(make_tangential_function(my_tank.x, my_tank.y, int(self.constants['tanklength']), 80, 1, 20))
flags_captured.append(my_tank.flag)
#if an enemy tank has captured our flag, they become a priority
public_enemy = None
for other_tank in self.othertanks:
if other_tank.flag == self.constants['team']:
public_enemy = other_tank
if tank.flag != "-":
goal = self.base
cr = (self.base.corner1_x - self.base.corner2_x) / 2
goal.x = self.base.corner1_x + cr
goal.y = self.base.corner1_y + cr
cs = 10
a = 3
elif public_enemy is not None:
goal1 = public_enemy
goal2 = self.closest_flag(enemy_flags, tank, flags_captured)
dist_goal1 = compute_distance(goal1.x, tank.x, goal1.y, tank.y)
dist_goal2 = compute_distance(goal2.x, tank.x, goal2.y, tank.y)
if dist_goal1 < dist_goal2:
goal = goal1
cr = int(self.constants['tanklength'])
cs = 20
a = 3
else:
goal = goal2
cr = 2
cs = 20
a = 2
else:
goal = self.closest_flag(enemy_flags, tank, flags_captured)
cr = 2
cs = 20
a = 2
bag_o_fields.append(make_circle_attraction_function(goal.x, goal.y, cr, cs, a))
def pfield_function(x, y):
dx = 0
dy = 0
for field_function in bag_o_fields:
newdx, newdy = field_function(x, y)
dx += newdx
dy += newdy
return dx, dy
dx, dy = pfield_function(tank.x, tank.y)
self.move_to_position(tank, tank.x + dx, tank.y + dy)
if plot:
self.gp.write(plot_field(pfield_function))
def attack_enemies(self, tank):
"""Find the closest enemy and chase it, shooting as you go."""
best_enemy = None
best_dist = 2 * float(self.constants['worldsize'])
for enemy in self.enemies:
if enemy.status != 'alive':
continue
dist = math.sqrt((enemy.x - tank.x)**2 + (enemy.y - tank.y)**2)
if dist < best_dist:
best_dist = dist
best_enemy = enemy
if best_enemy is None:
command = Command(tank.index, 0, 0, False)
self.commands.append(command)
else:
self.move_to_position(tank, best_enemy.x, best_enemy.y)
def move_to_position(self, tank, target_x, target_y):
"""Set command to move to given coordinates."""
target_angle = math.atan2(target_y - tank.y,
target_x - tank.x)
relative_angle = self.normalize_angle(target_angle - tank.angle)
command = Command(tank.index, 1, 2 * relative_angle, True)
self.commands.append(command)
def normalize_angle(self, angle):
"""Make any angle be between +/- pi."""
angle -= 2 * math.pi * int (angle / (2 * math.pi))
if angle <= -math.pi:
angle += 2 * math.pi
elif angle > math.pi:
angle -= 2 * math.pi
return angle
def __init__(self, world_size):
self.gp = GnuplotProcess(persist=False)
self.gp.write(self.gnuplot_header(-world_size / 2, world_size / 2))
outfile = open(FILENAME, 'w')
print >>outfile, gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2)
print >>outfile, draw_obstacles(OBSTACLES)
field_function = generate_field_function(150)
print >>outfile, plot_field(field_function)
########################################################################
# Animate a changing field, if the Python Gnuplot library is present
try:
from Gnuplot import GnuplotProcess
except ImportError:
print "Sorry. You don't have the Gnuplot module installed."
import sys
sys.exit(-1)
forward_list = list(linspace(ANIMATION_MIN, ANIMATION_MAX, ANIMATION_FRAMES/2))
backward_list = list(linspace(ANIMATION_MAX, ANIMATION_MIN, ANIMATION_FRAMES/2))
anim_points = forward_list + backward_list
gp = GnuplotProcess(persist=False)
gp.write(gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2))
gp.write(draw_obstacles(OBSTACLES))
for scale in cycle(anim_points):
field_function = generate_field_function(scale)
gp.write(plot_field(field_function))
# vim: et sw=4 sts=4
def display(flags, bases, obstacles, field_function):
try:
from Gnuplot import GnuplotProcess
except ImportError:
print "Sorry. You don't have the Gnuplot module installed."
import sys
sys.exit(-1)
gp = GnuplotProcess(persist=True)
gp.write(gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2))
gp.write(unset_arrow())
gp.write(draw_flags(flags))
gp.write(draw_bases(bases))
gp.write(draw_obstacles(obstacles))
gp.write(plot_field(field_function))
def __init__(self):
self.gnuprocess = GnuplotProcess(persist=False)
self.gnuprocess.write(self.plot_file_base())
########################################################################
# Animate a changing field, if the Python Gnuplot library is present
try:
from Gnuplot import GnuplotProcess
except ImportError:
print "Sorry. You don't have the Gnuplot module installed."
import sys
sys.exit(-1)
#this for loop populates the list of fieldGenerators -Josh
for obs in OBSTACLES:
obsRadiusAndCenter(obs)
forward_list = list(linspace(ANIMATION_MIN, ANIMATION_MAX, ANIMATION_FRAMES/2))
backward_list = list(linspace(ANIMATION_MAX, ANIMATION_MIN, ANIMATION_FRAMES/2))
anim_points = forward_list + backward_list
gp = GnuplotProcess(persist=True)#this starts the GP process and makes it a persistent file so it doesn't close automatically
gp.write(gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2))#sets up the initialization
gp.write(draw_obstacles(OBSTACLES,FLAGS))#draws the obstacles and now flags -josh
gp.write(plot_field(generate_fields))
def plot(obstacleList):
########################################################################
# Constants
# Output file:
FILENAME = 'fields.gpi'
# Size of the world (one of the "constants" in bzflag):
WORLDSIZE = 800
# How many samples to take along each dimension:
SAMPLES = 25
# Change spacing by changing the relative length of the vectors. It looks
# like scaling by 0.75 is pretty good, but this is adjustable:
VEC_LEN = 0.75 * WORLDSIZE / SAMPLES
# Animation parameters:
ANIMATION_MIN = 0
ANIMATION_MAX = 500
ANIMATION_FRAMES = 50
########################################################################
# Field and Obstacle Definitions
def generate_field_function(scale):
def function(x, y):
'''User-defined field function.'''
sqnorm = (x**2 + y**2)
if sqnorm == 0.0:
return 0, 0
else:
return x * scale / sqnorm, y * scale / sqnorm
return function
OBSTACLES = obstacleList
########################################################################
# Helper Functions
def gpi_point(x, y, vec_x, vec_y):
'''Create the centered gpi data point (4-tuple) for a position and
vector. The vectors are expected to be less than 1 in magnitude,
and larger values will be scaled down.'''
r = (vec_x**2 + vec_y**2)**0.5
if r > 1:
vec_x /= r
vec_y /= r
return (x - vec_x * VEC_LEN / 2, y - vec_y * VEC_LEN / 2,
vec_x * VEC_LEN, vec_y * VEC_LEN)
def gnuplot_header(minimum, maximum):
'''Return a string that has all of the gnuplot sets and unsets.'''
s = ''
s += 'set terminal png\n'
s += "set output 'fields.png'\n"
s += 'set xrange [%s: %s]\n' % (minimum, maximum)
s += 'set yrange [%s: %s]\n' % (minimum, maximum)
# The key is just clutter. Get rid of it:
s += 'unset key\n'
# Make sure the figure is square since the world is square:
s += 'set size square\n'
# Add a pretty title (optional):
#s += "set title 'Potential Fields'\n"
return s
def draw_line(p1, p2):
'''Return a string to tell Gnuplot to draw a line from point p1 to
point p2 in the form of a set command.'''
x1, y1 = p1
x2, y2 = p2
return 'set arrow from %s, %s to %s, %s nohead lt 3\n' % (x1, y1, x2,
y2)
def draw_obstacles(obstacles):
'''Return a string which tells Gnuplot to draw all of the obstacles.'''
s = 'unset arrow\n'
for obs in obstacles:
last_point = obs[0]
for cur_point in obs[1:]:
s += draw_line(last_point, cur_point)
last_point = cur_point
s += draw_line(last_point, obs[0])
return s
def plot_field(function):
'''Return a Gnuplot command to plot a field.'''
s = "plot '-' with vectors head\n"
separation = WORLDSIZE / SAMPLES
end = WORLDSIZE / 2 - separation / 2
start = -end
points = ((x, y) for x in linspace(start, end, SAMPLES)
for y in linspace(start, end, SAMPLES))
for x, y in points:
f_x, f_y = function(x, y)
plotvalues = gpi_point(x, y, f_x, f_y)
if plotvalues is not None:
x1, y1, x2, y2 = plotvalues
s += '%s %s %s %s\n' % (x1, y1, x2, y2)
s += 'e\n'
return s
########################################################################
# Plot the potential fields to a file
outfile = open(FILENAME, 'w')
print >> outfile, gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2)
print >> outfile, draw_obstacles(OBSTACLES)
#field_function = generate_field_function(150)
#print >>outfile, plot_field(field_function)
########################################################################
# Animate a changing field, if the Python Gnuplot library is present
try:
from Gnuplot import GnuplotProcess
except ImportError:
print "Sorry. You don't have the Gnuplot module installed."
import sys
sys.exit(-1)
forward_list = list(
linspace(ANIMATION_MIN, ANIMATION_MAX, ANIMATION_FRAMES / 2))
backward_list = list(
linspace(ANIMATION_MAX, ANIMATION_MIN, ANIMATION_FRAMES / 2))
anim_points = forward_list + backward_list
gp = GnuplotProcess(persist=False)
gp.write(gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2))
gp.write(draw_obstacles(OBSTACLES))
for scale in cycle(anim_points):
field_function = generate_field_function(scale)
gp.write(plot_field(field_function))
def plot(obstacleList):
########################################################################
# Constants
# Output file:
FILENAME = 'fields.gpi'
# Size of the world (one of the "constants" in bzflag):
WORLDSIZE = 800
# How many samples to take along each dimension:
SAMPLES = 25
# Change spacing by changing the relative length of the vectors. It looks
# like scaling by 0.75 is pretty good, but this is adjustable:
VEC_LEN = 0.75 * WORLDSIZE / SAMPLES
# Animation parameters:
ANIMATION_MIN = 0
ANIMATION_MAX = 500
ANIMATION_FRAMES = 50
########################################################################
# Field and Obstacle Definitions
def generate_field_function(scale):
def function(x, y):
'''User-defined field function.'''
sqnorm = (x**2 + y**2)
if sqnorm == 0.0:
return 0, 0
else:
return x*scale/sqnorm, y*scale/sqnorm
return function
OBSTACLES = obstacleList
########################################################################
# Helper Functions
def gpi_point(x, y, vec_x, vec_y):
'''Create the centered gpi data point (4-tuple) for a position and
vector. The vectors are expected to be less than 1 in magnitude,
and larger values will be scaled down.'''
r = (vec_x ** 2 + vec_y ** 2) ** 0.5
if r > 1:
vec_x /= r
vec_y /= r
return (x - vec_x * VEC_LEN / 2, y - vec_y * VEC_LEN / 2,
vec_x * VEC_LEN, vec_y * VEC_LEN)
def gnuplot_header(minimum, maximum):
'''Return a string that has all of the gnuplot sets and unsets.'''
s = ''
s += 'set terminal png\n'
s += "set output 'fields.png'\n"
s += 'set xrange [%s: %s]\n' % (minimum, maximum)
s += 'set yrange [%s: %s]\n' % (minimum, maximum)
# The key is just clutter. Get rid of it:
s += 'unset key\n'
# Make sure the figure is square since the world is square:
s += 'set size square\n'
# Add a pretty title (optional):
#s += "set title 'Potential Fields'\n"
return s
def draw_line(p1, p2):
'''Return a string to tell Gnuplot to draw a line from point p1 to
point p2 in the form of a set command.'''
x1, y1 = p1
x2, y2 = p2
return 'set arrow from %s, %s to %s, %s nohead lt 3\n' % (x1, y1, x2, y2)
def draw_obstacles(obstacles):
'''Return a string which tells Gnuplot to draw all of the obstacles.'''
s = 'unset arrow\n'
for obs in obstacles:
last_point = obs[0]
for cur_point in obs[1:]:
s += draw_line(last_point, cur_point)
last_point = cur_point
s += draw_line(last_point, obs[0])
return s
def plot_field(function):
'''Return a Gnuplot command to plot a field.'''
s = "plot '-' with vectors head\n"
separation = WORLDSIZE / SAMPLES
end = WORLDSIZE / 2 - separation / 2
start = -end
points = ((x, y) for x in linspace(start, end, SAMPLES)
for y in linspace(start, end, SAMPLES))
for x, y in points:
f_x, f_y = function(x, y)
plotvalues = gpi_point(x, y, f_x, f_y)
if plotvalues is not None:
x1, y1, x2, y2 = plotvalues
s += '%s %s %s %s\n' % (x1, y1, x2, y2)
s += 'e\n'
return s
########################################################################
# Plot the potential fields to a file
outfile = open(FILENAME, 'w')
print >>outfile, gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2)
print >>outfile, draw_obstacles(OBSTACLES)
#field_function = generate_field_function(150)
#print >>outfile, plot_field(field_function)
########################################################################
# Animate a changing field, if the Python Gnuplot library is present
try:
from Gnuplot import GnuplotProcess
except ImportError:
print "Sorry. You don't have the Gnuplot module installed."
import sys
sys.exit(-1)
forward_list = list(linspace(ANIMATION_MIN, ANIMATION_MAX, ANIMATION_FRAMES/2))
backward_list = list(linspace(ANIMATION_MAX, ANIMATION_MIN, ANIMATION_FRAMES/2))
anim_points = forward_list + backward_list
gp = GnuplotProcess(persist=False)
gp.write(gnuplot_header(-WORLDSIZE / 2, WORLDSIZE / 2))
gp.write(draw_obstacles(OBSTACLES))
for scale in cycle(anim_points):
field_function = generate_field_function(scale)
gp.write(plot_field(field_function))