def draw_paths(self):
if self.path:
# copied from the box_world
egi.set_stroke(2)
# Show open edges
route = self.path.route
egi.set_pen_color(name='GREEN')
for i in self.path.open:
egi.circle(self.world.boxes[i]._vc, 10)
# show the partial paths considered
egi.set_pen_color(name='ORANGE')
egi.set_stroke(2)
for i, j in route.items():
egi.line_by_pos(self.world.boxes[i]._vc,
self.world.boxes[j]._vc)
egi.set_stroke(1)
# show the final path delivered
egi.set_pen_color(name='RED')
egi.set_stroke(2)
path = self.path.path
for i in range(1, len(path)):
egi.line_by_pos(self.world.boxes[path[i - 1]]._vc,
self.world.boxes[path[i]]._vc)
egi.set_stroke(1)
def hide(self, hunter):
DistToClosest = float('inf')
BestHidingSpot = Vector2D()
to_target = hunter.pos - self.pos
panic_range = 60
dist = to_target.length()
if dist < panic_range:
self.visible = False
for obst in self.world.obstacle:
hidingSpot = self.GetHidingPosition(hunter.pos, obst)
hidingDist = Vector2D.distance_sq(
hidingSpot, self.pos
) #change to self.pos for closest obst search, and change vector to positive
egi.cross(hidingSpot, 4)
if hidingDist < DistToClosest:
DistToClosest = hidingDist
BestHidingSpot = hidingSpot
if BestHidingSpot:
egi.line_by_pos(hunter.pos, BestHidingSpot)
return self.arrive(BestHidingSpot, 'fast')
return self.flee(hunter.pos)
def drawEye(self, color=None): eyePosition = self.renderPosition + self.side * self.body * -8 - self.heading * 20 eyeRadius = self.body * 0.8 if(self.awake): egi.circle(eyePosition, eyeRadius) else: egi.line_by_pos(eyePosition, eyePosition + self.heading * eyeRadius * 2)
def wallSteer(self, delta):
wallForce = self.wallAvoidance(self.world.tank.getWalls('vertical')) * 2
if(self.chosenOne and self.world.drawDebug):
egi.red_pen()
egi.line_by_pos(self.pos, self.pos + wallForce * 5)
return wallForce
def hidingSteer(self, delta, closest=True): hiding = self.hide(hunters=self.world.hunters, obstacles=self.world.obstacles, closest=closest) if(self.chosenOne and self.world.drawDebug): egi.red_pen() egi.line_by_pos(self.pos, self.pos + hiding * 5) return hiding
def render(self): self.drawWaves() self.drawWalls() egi.set_stroke(1) if(self.world.drawDebug): for wall in self.walls: egi.line_by_pos(wall.center, wall.center + wall.normal * 100)
def drawEye(self, color=None):
eyePosition = self.renderPosition + self.side * self.body * -8 - self.heading * 20
eyeRadius = self.body * 0.8
if (self.awake):
egi.circle(eyePosition, eyeRadius)
else:
egi.line_by_pos(eyePosition,
eyePosition + self.heading * eyeRadius * 2)
def wallSteer(self, delta):
wallForce = self.wallAvoidance(
self.world.tank.getWalls('vertical')) * 2
if (self.chosenOne and self.world.drawDebug):
egi.red_pen()
egi.line_by_pos(self.pos, self.pos + wallForce * 5)
return wallForce
def render(self):
self.drawWaves()
self.drawWalls()
egi.set_stroke(1)
if (self.world.drawDebug):
for wall in self.walls:
egi.line_by_pos(wall.center, wall.center + wall.normal * 100)
def hidingSteer(self, delta, closest=True):
hiding = self.hide(hunters=self.world.hunters,
obstacles=self.world.obstacles,
closest=closest)
if (self.chosenOne and self.world.drawDebug):
egi.red_pen()
egi.line_by_pos(self.pos, self.pos + hiding * 5)
return hiding
def patrolSteer(self, delta):
wanderForce = self.wander(delta) * self.state.wanderInfluence
netForce = wanderForce
if (self.chosenOne and self.world.drawDebug):
egi.blue_pen()
egi.line_by_pos(self.pos, self.pos + wanderForce * 5)
egi.orange_pen()
egi.line_by_pos(self.pos, self.pos + netForce * 5)
return netForce
def patrolSteer(self, delta): wanderForce = self.wander(delta) * self.state.wanderInfluence netForce = wanderForce if(self.chosenOne and self.world.drawDebug): egi.blue_pen() egi.line_by_pos(self.pos, self.pos + wanderForce * 5) egi.orange_pen() egi.line_by_pos(self.pos, self.pos + netForce * 5) return netForce
def foodSteer(self, delta):
steeringForce = Vector2D()
bestFood = self.findBestFood(self.food)
if (bestFood is not None):
steeringForce = self.pursuit(bestFood)
# else:
# steeringForce = self.idleSteer(delta)
if (self.chosenOne and self.world.drawDebug):
egi.orange_pen()
egi.line_by_pos(self.pos, self.pos + steeringForce)
return steeringForce
def foodSteer(self, delta): steeringForce = Vector2D() bestFood = self.findBestFood(self.food) if(bestFood is not None): steeringForce = self.pursuit(bestFood) # else: # steeringForce = self.idleSteer(delta) if(self.chosenOne and self.world.drawDebug): egi.orange_pen() egi.line_by_pos(self.pos, self.pos + steeringForce) return steeringForce
def survivalSteer(self, delta):
avoidHunters, hunterDist = self.avoidHuntersSteer(delta)
# avoidHunters *
hideForce = self.hidingSteer(delta) / (hunterDist / 20000) / (
avoidHunters.length() / 100)
steer = avoidHunters + hideForce
if (self.chosenOne and self.world.drawHidingSpots):
egi.green_pen()
egi.line_by_pos(self.pos, self.pos + avoidHunters * 5)
# print 'avoidHunters', avoidHunters
egi.red_pen()
egi.line_by_pos(self.pos, self.pos + hideForce * 5)
# print 'hideForce', hideForce
egi.orange_pen()
# egi.line_by_pos(self.pos, self.pos + steer * 5)
return steer
def survivalSteer(self, delta): avoidHunters, hunterDist = self.avoidHuntersSteer(delta) # avoidHunters * hideForce = self.hidingSteer(delta) / (hunterDist / 20000) / (avoidHunters.length() / 100) steer = avoidHunters + hideForce if(self.chosenOne and self.world.drawHidingSpots): egi.green_pen() egi.line_by_pos(self.pos, self.pos + avoidHunters * 5) # print 'avoidHunters', avoidHunters egi.red_pen() egi.line_by_pos(self.pos, self.pos + hideForce * 5) # print 'hideForce', hideForce egi.orange_pen() # egi.line_by_pos(self.pos, self.pos + steer * 5) return steer
def idleSteer(self, delta):
wanderForce = self.wander(delta) * self.state['wanderInfluence']
flockForce = self.flock(delta) * self.flockingInfluence
# obstaclesForce = self.obstacleAvoidance(self.world.solids)
percentFromCenterX = (self.pos.x - self.world.center.x) / self.world.width
percentFromCenterY = (self.pos.y - self.world.center.y) / self.world.height
# Square the falloff
valueX = -Util.sign(percentFromCenterX)*(self.maxCenterForce * percentFromCenterX**2)
valueY = -Util.sign(percentFromCenterY)*(self.maxCenterForce * percentFromCenterY**2)
centerForce = Vector2D(valueX, valueY)
survivalSteer = self.survivalSteer(delta)
foodForce = self.foodSteer(delta) * (1 + self.sickness / 10)
self.maxSpeed = self.stat('speed') - (self.sickness / 2)
netForce = wanderForce + flockForce + centerForce + survivalSteer + foodForce
# print 'self.flockingInfluence', self.flockingInfluence
if(self.chosenOne and self.world.drawDebug):
egi.blue_pen()
egi.line_by_pos(self.pos, self.pos + wanderForce * 5)
egi.green_pen()
egi.line_by_pos(self.pos, self.pos + flockForce * 5)
egi.orange_pen()
egi.line_by_pos(self.pos, self.pos + netForce * 5)
egi.set_pen_color(name='BROWN')
egi.line_by_pos(self.pos, self.pos + centerForce * 5)
return netForce
def idleSteer(self, delta):
wanderForce = self.wander(delta) * self.state['wanderInfluence']
flockForce = self.flock(delta) * self.flockingInfluence
# obstaclesForce = self.obstacleAvoidance(self.world.solids)
percentFromCenterX = (self.pos.x -
self.world.center.x) / self.world.width
percentFromCenterY = (self.pos.y -
self.world.center.y) / self.world.height
# Square the falloff
valueX = -Util.sign(percentFromCenterX) * (self.maxCenterForce *
percentFromCenterX**2)
valueY = -Util.sign(percentFromCenterY) * (self.maxCenterForce *
percentFromCenterY**2)
centerForce = Vector2D(valueX, valueY)
survivalSteer = self.survivalSteer(delta)
foodForce = self.foodSteer(delta) * (1 + self.sickness / 10)
self.maxSpeed = self.stat('speed') - (self.sickness / 2)
netForce = wanderForce + flockForce + centerForce + survivalSteer + foodForce
# print 'self.flockingInfluence', self.flockingInfluence
if (self.chosenOne and self.world.drawDebug):
egi.blue_pen()
egi.line_by_pos(self.pos, self.pos + wanderForce * 5)
egi.green_pen()
egi.line_by_pos(self.pos, self.pos + flockForce * 5)
egi.orange_pen()
egi.line_by_pos(self.pos, self.pos + netForce * 5)
egi.set_pen_color(name='BROWN')
egi.line_by_pos(self.pos, self.pos + centerForce * 5)
return netForce
def draw(self):
for box in self.boxes:
box.draw()
if cfg['EDGES_ON']:
egi.set_pen_color(name='LIGHT_BLUE')
for node, edges in self.graph.edgelist.items():
# print node, edges
for dest in edges:
egi.line_by_pos(self.boxes[node]._vc, self.boxes[dest]._vc)
if self.path:
if not self.agent:
path_pts = []
for i in range(0,len(self.path.path)):
path_pts.append(PointToVector2D(self.boxes[self.path.path[i]]._vc))
self.agent = Agent()
self.agent.path.set_pts(path_pts)
self.agent.update()
self.agent.render()
# put a circle in the visited boxes?
if cfg['BOXUSED_ON']:
egi.set_pen_color(name="GREEN")
for i in self.path.closed:
egi.circle(self.boxes[i]._vc, 10)
if cfg['TREE_ON']:
egi.set_stroke(3)
# Show open edges
route = self.path.route
egi.set_pen_color(name='GREEN')
for i in self.path.open:
egi.circle(self.boxes[i]._vc, 10)
# show the partial paths considered
egi.set_pen_color(name='ORANGE')
for i,j in route.items():
egi.line_by_pos(self.boxes[i]._vc, self.boxes[j]._vc)
egi.set_stroke(1)
if cfg['PATH_ON']:
# show the final path delivered
egi.set_pen_color(name='RED')
egi.set_stroke(2)
path = self.path.path
for i in range(1,len(path)):
egi.line_by_pos(self.boxes[path[i-1]]._vc, self.boxes[path[i]]._vc)
egi.set_stroke(1)
def draw(self, agent_pos):
for box in self.boxes:
box.draw()
if cfg['EDGES_ON']:
egi.set_pen_color(name='LIGHT_BLUE')
for node, edges in self.graph.edgelist.items():
# print node, edges
for dest in edges:
egi.line_by_pos(self.boxes[node]._vc, self.boxes[dest]._vc)
if self.path:
# put a circle in the visited boxes?
if cfg['BOXUSED_ON']:
egi.set_pen_color(name="GREEN")
for i in self.path.closed:
egi.circle(self.boxes[i]._vc, 10)
if cfg['TREE_ON']:
egi.set_stroke(3)
# Show open edges
route = self.path.route
egi.set_pen_color(name='GREEN')
for i in self.path.open_nodes:
egi.circle(self.boxes[i]._vc, 10)
# show the partial paths considered
egi.set_pen_color(name='ORANGE')
for i, j in route.items():
egi.line_by_pos(self.boxes[i]._vc, self.boxes[j]._vc)
egi.set_stroke(1)
if cfg['PATH_ON']:
# show the final path delivered
egi.set_pen_color(name='RED')
egi.set_stroke(2)
path = self.path.path
for i in range(1, len(path)):
egi.line_by_pos(self.boxes[path[i - 1]]._vc,
self.boxes[path[i]]._vc)
egi.set_stroke(1)
if agent_pos:
egi.set_stroke(4)
egi.set_pen_color(name="BLUE")
egi.circle(agent_pos, 10)
def draw(self):
for box in self.boxes:
box.draw()
if cfg['EDGES_ON']:
egi.set_pen_color(name='LIGHT_BLUE')
for node, edges in self.graph.edgelist.items():
# print node, edges
for dest in edges:
egi.line_by_pos(self.boxes[node]._vc, self.boxes[dest]._vc)
if self.path:
# put a circle in the visited boxes?
if cfg['BOXUSED_ON']:
egi.set_pen_color(name="GREEN")
for i in self.path.closed:
egi.circle(self.boxes[i]._vc, 10)
if cfg['TREE_ON']:
egi.set_stroke(3)
# Show open edges
route = self.path.route
egi.set_pen_color(name='GREEN')
for i in self.path.open:
egi.circle(self.boxes[i]._vc, 10)
# show the partial paths considered
egi.set_pen_color(name='ORANGE')
for i,j in route.items():
egi.line_by_pos(self.boxes[i]._vc, self.boxes[j]._vc)
egi.set_stroke(1)
if cfg['PATH_ON']:
# show the final path delivered
egi.set_pen_color(name='RED')
egi.set_stroke(2)
path = self.path.path
for i in range(1,len(path)):
egi.line_by_pos(self.boxes[path[i-1]]._vc, self.boxes[path[i]]._vc)
egi.set_stroke(1)
if(self.follower):
egi.set_pen_color(name='GREEN')
egi.set_stroke(5)
egi.circle(self.follower, 15)
def createFeelers(self): feelerLength = sqrt(self.boundingRadius) * 20 + 30 feelerLength *= self.feelerPercentage feelerAngle = pi/4 feelerShorter = 0.6 # Main center feeler center = self.pos + self.heading.copy() * feelerLength # Slightly shorter angled feelers left = self.pos + self.heading.copy().rotate(feelerAngle) * feelerLength * feelerShorter right = self.pos + self.heading.copy().rotate(-feelerAngle) * feelerLength * feelerShorter feelers = [center, left, right] if(self.chosenOne and self.world.drawDebug): egi.aqua_pen() egi.line_by_pos(self.pos, center) egi.line_by_pos(self.pos, left) egi.line_by_pos(self.pos, right) return feelers
def render(self, color=None):
''' Draw the triangle agent with color'''
color = None
shape = None
if (self != Agent.world.hunter):
color = self.color
shape = Agent.vehicle_shape
else:
color = 'RED'
shape = Agent.hunter_shape
egi.set_pen_color(name=color)
pts = Agent.world.transform_points(shape, self.pos, self.heading,
self.side,
Agent.scale * Agent.floatScale)
# draw it!
egi.closed_shape(pts)
#cap taget pos to window diameters
if ((self.mode == 'pursuit' or self.mode == 'flee')
and self == Agent.world.hunter):
egi.green_pen()
if self.hunterTargVec.y > Agent.world.cy:
self.hunterTargVec = Vector2D(self.hunterTargVec.x,
Agent.world.cy)
elif self.hunterTargVec.y < 0:
self.hunterTargVec = Vector2D(self.hunterTargVec.x, 0)
if self.hunterTargVec.x > Agent.world.cx:
self.hunterTargVec = Vector2D(Agent.world.cx,
self.hunterTargVec.y)
elif self.hunterTargVec.x < 0:
self.hunterTargVec = Vector2D(0, self.hunterTargVec.y)
egi.cross(self.hunterTargVec, 10)
# add some handy debug drawing info lines - force and velocity
if Agent.show_info:
#s = 0.5 # <-- scaling factor
# force
egi.red_pen()
egi.line_with_arrow(self.pos, self.pos + self.force,
5) #replaced s with Agent.floatScale
# velocity
egi.grey_pen()
egi.line_with_arrow(self.pos, self.pos + self.vel,
5) #replaced s with Agent.floatScale
# draw the path if it exists and the mode is follow
if self.mode == 'follow_path':
self.path.render()
# draw wander info?
elif self.mode == 'wander':
# calculate the center of the wander circle in front of the agent
wnd_pos = Vector2D(Agent.wander_dist * Agent.floatScale, 0)
wld_pos = self.world.transform_point(wnd_pos, self.pos,
self.heading, self.side)
# draw the wander circle
egi.green_pen()
egi.circle(wld_pos, Agent.wander_radius * Agent.floatScale)
# draw the wander target (little circle on the big circle)
egi.red_pen()
wnd_pos = (self.wander_target +
Vector2D(Agent.wander_dist * Agent.floatScale, 0))
wld_pos = Agent.world.transform_point(wnd_pos, self.pos,
self.heading, self.side)
egi.circle(wld_pos, 3)
#draw cohesion range
egi.blue_pen()
egi.circle(self.pos, Agent.cohesiveRange * Agent.floatScale)
egi.red_pen()
egi.circle(self.pos, Agent.seperationRange * Agent.floatScale)
egi.green_pen()
egi.circle(self.pos, Agent.alignmentRange * Agent.floatScale)
if self == Agent.world.hunter:
#draw panic dist and hide dist
egi.aqua_pen()
egi.circle(self.pos, Agent.panicDist * Agent.floatScale)
egi.circle(self.pos, (Agent.panicDist + Agent.hiderange) *
Agent.floatScale)
for hidepos in self.hunterHidePositions:
egi.aqua_pen()
egi.line_by_pos(self.pos, hidepos[0])
#debugging
#TODO REMOVE
egi.orange_pen()
egi.line_by_pos(
self.pos,
self.pos + self.AvoidEnvironmentRedirect(self.force))
