def hide(self, hunter_position, delta):
to_hunter = self.position - hunter_position
if to_hunter.length() > self.panic_radius:
return self.weighted_sum(delta)
best_hiding_spot = None
best_hiding_distance = None
for object_position in self.world.objects:
hiding_spot = self.get_hiding_spot(
hunter_position, Vector2D(object_position.x,
object_position.y))
hiding_distance = self.position.distance_sq(hiding_spot)
if not best_hiding_spot or hiding_distance < best_hiding_distance:
best_hiding_spot = hiding_spot
best_hiding_distance = hiding_distance
egi.red_pen()
egi.cross(hiding_spot, 10)
if best_hiding_spot:
return self.arrive(best_hiding_spot)
return self.flee(hunter_position)
def render(self):
egi.set_pen_color(name=self.color)
points = self.world.transform_points(self.vehicle_shape, self.position,
self.heading, self.side,
Vector2D(self.scale, self.scale))
egi.closed_shape(points)
#egi.red_pen()
#egi.circle(self.position, self.panic_radius)
if self.mode == 'Wander1': # Disabled for now
local_position = Vector2D(self.wander_distance, 0)
world_position = self.world.transform_point(
local_position, self.position, self.heading, self.side)
egi.green_pen()
egi.circle(world_position, self.wander_radius)
local_position += self.wander_target
world_position = self.world.transform_point(
local_position, self.position, self.heading, self.side)
egi.red_pen()
egi.circle(world_position, 5)
elif self.mode == 'Follow path':
self.path.render()
def render(self, color=None):
''' Draw the triangle agent with color'''
# draw the ship
egi.set_pen_color(name=self.color)
pts = self.world.transform_points(self.vehicle_shape, self.pos,
self.heading, self.side, self.scale)
# draw it!
egi.closed_shape(pts)
# draw the border
egi.blue_pen()
egi.closed_shape(self.walls, False)
egi.red_pen()
egi.line_with_arrow(self.pos, self.pos + self.vel * 0.5, 5) #feeler1
# add some handy debug drawing info lines - force and velocity
if self.show_info:
s = 0.5 # <-- scaling factor
# force
egi.red_pen()
egi.line_with_arrow(self.pos, self.pos + self.force * s, 5)
# velocity
egi.grey_pen()
egi.line_with_arrow(self.pos, self.pos + self.vel * s, 5)
# net (desired) change
egi.white_pen()
egi.line_with_arrow(self.pos+self.vel * s, self.pos+ (self.force+self.vel) * s, 5)
egi.line_with_arrow(self.pos, self.pos+ (self.force+self.vel) * s, 5)
def render(self, color=None):
''' Draw the triangle agent with color'''
# draw the ship
egi.set_pen_color(name=self.color)
pts = self.world.transform_points(self.vehicle_shape, self.pos,
self.heading, self.side, self.scale)
# draw it!
egi.closed_shape(pts)
# draw the border
egi.blue_pen()
egi.closed_shape(self.walls, False)
egi.red_pen()
egi.line_with_arrow(self.pos, self.pos + self.vel * 0.5, 5) #feeler1
# add some handy debug drawing info lines - force and velocity
if self.show_info:
s = 0.5 # <-- scaling factor
# force
egi.red_pen()
egi.line_with_arrow(self.pos, self.pos + self.force * s, 5)
# velocity
egi.grey_pen()
egi.line_with_arrow(self.pos, self.pos + self.vel * s, 5)
# net (desired) change
egi.white_pen()
egi.line_with_arrow(self.pos + self.vel * s,
self.pos + (self.force + self.vel) * s, 5)
egi.line_with_arrow(self.pos,
self.pos + (self.force + self.vel) * s, 5)
def render(self):
if self.hunter is not None:
self.hunter.render()
for agent in self.agents:
agent.render()
for hide in self.hideObjects:
hide.render()
if self.target:
egi.red_pen()
egi.cross(self.target, 10)
if self.showinfo:
# added additional info to info text in regards to emergant group behaviour ##2018-04-16
infotext = ', '.join(set(agent.mode for agent in self.agents))
egi.white_pen()
egi.text_at_pos(0, 0, infotext)
infotext = ': '.join(('Cohesion Modifier', str(self.cohesion)))
egi.white_pen()
egi.text_at_pos(0, 12, infotext)
infotext = ': '.join(('Seperation Modifier', str(self.seperation)))
egi.white_pen()
egi.text_at_pos(0, 24, infotext)
infotext = ': '.join(('Alignment Modifier', str(self.alignment)))
egi.white_pen()
egi.text_at_pos(0, 36, infotext)
infotext = ': '.join(('Radius', str(self.radius)))
egi.white_pen()
egi.text_at_pos(0, 48, infotext)
def render(self, color=None):
# graphics,
''' Draw the triangle agent with color'''
# self.graphics = Graphics()
# draw the path if it exists and the mode is follow.
if self.mode == 'follow_path':
self.path.render()
pass
# draw the ship.
egi.set_pen_color(name=self.color)
pts = self.world.transform_points(self.vehicle_shape, self.pos,
self.heading, self.side, self.scale)
# draw it!
egi.closed_shape(pts)
# add some handy debug drawing info lines - force and velocity.
if self.show_info:
s = 0.5 # <-- scaling factor.
# force.
egi.red_pen()
egi.line_with_arrow(self.pos, self.pos + self.force * s, 5)
# velocity.
egi.grey_pen()
egi.line_with_arrow(self.pos, self.pos + self.vel * s, 5)
# net (desired) change.
egi.white_pen()
egi.line_with_arrow(self.pos + self.vel * s,
self.pos + (self.force + self.vel) * s, 5)
egi.line_with_arrow(self.pos,
self.pos + (self.force + self.vel) * s, 5)
def render(self, color=None):
''' Draw the triangle agent with color'''
egi.set_pen_color(name=self.color)
pts = self.world.transform_points(self.vehicle_shape, self.pos,
self.heading, self.side, self.scale)
if (self.mode == 'hunt'):
wnd_pos = Vector2D(self.wander_dist, 0)
wld_pos = self.world.transform_point(wnd_pos, self.pos,
self.heading, self.side)
egi.green_pen()
egi.circle(wld_pos, self.wander_radius)
egi.red_pen()
wnd_pos = (self.wander_target + Vector2D(self.wander_dist, 0))
wld_pos = self.world.transform_point(wnd_pos, self.pos,
self.heading, self.side)
egi.circle(wld_pos, 3)
# draw it!
egi.closed_shape(pts)
if self.show_info:
s = 0.5 # <-- scaling factor
# force
egi.red_pen()
egi.line_with_arrow(self.pos, self.pos + self.force * s, 5)
# velocity
egi.grey_pen()
egi.line_with_arrow(self.pos, self.pos + self.vel * s, 5)
# net (desired) change
egi.white_pen()
egi.line_with_arrow(self.pos + self.vel * s,
self.pos + (self.force + self.vel) * s, 5)
egi.line_with_arrow(self.pos,
self.pos + (self.force + self.vel) * s, 5)
def render(self):
for agent in self.agents:
agent.render()
if self.target:
egi.red_pen()
egi.cross(self.target, 10)
for obstacle in self.obstacle:
obstacle.render()
if self.show_info:
infotext = ': '.join(('Radius', str(self.radius)))
egi.white_pen()
egi.text_at_pos(0, 487, infotext)
infotext = ': '.join(('Cohesion', str(self.cohesion)))
egi.white_pen()
egi.text_at_pos(0, 448, infotext)
infotext = ': '.join(('Seperation', str(self.separation)))
egi.white_pen()
egi.text_at_pos(0, 461, infotext)
infotext = ': '.join(('Alignment', str(self.alignment)))
egi.white_pen()
egi.text_at_pos(0, 474, infotext)
infotext = ', '.join(set(agent.mode for agent in self.agents))
egi.white_pen()
egi.text_at_pos(0, 0, infotext)
def hide(self, hunters, obstacles, closest=True): hidingPlaces = [] for hunter in hunters: for obstacle in obstacles: dir = hunter.pos.distanceTo(obstacle.pos).get_normalised() length = hunter.pos.distance(obstacle.pos) + obstacle.boundingRadius + self.boundingRadius # Calculate the position of the hiding spot place = hunter.pos + dir * length # If this spot isn't inside any other obstacles, then add it to the list if(not True in [ob.containsPoint(place) for ob in obstacles]): hidingPlaces.append(place) self.hidingPlaces = hidingPlaces # store for debugging purposes # Find the 'best' hiding place from our list self.bestPlace = self.bestHidingPlaceFromHunter(hidingPlaces=hidingPlaces, hunter=hunters[0], closest=closest) # print 'bestPlace', self.bestPlace # seek = self.seek(self.bestPlace) arrive = self.arrive(self.bestPlace, 'fast') if(self.chosenOne and self.world.drawHidingSpots): for place in self.hidingPlaces or []: egi.red_pen() if(place == self.bestPlace): egi.green_pen() egi.cross(place, 10) return arrive
def render(self, color=None):
''' Draw the triangle agent with color'''
egi.set_pen_color(name=self.color)
pts = self.world.transform_points(self.vehicle_shape, self.pos,
self.heading, self.side, self.scale)
# draw wander info
if self.mode == 'wander':
# calculate the center of the wander circle in front of the agent
wnd_pos = Vector2D(self.wander_dist, 0)
wnd_pos = self.world.transform_point(wnd_pos, self.pos,
self.heading, self.side)
# draw wander circle
egi.green_pen()
egi.circle(wnd_pos, self.wander_radius)
# draw the wander target (little cirlce on the big circle)
egi.red_pen()
wnd_pos = (self.wander_target + Vector2D(self.wander_dist, 0))
wld_pos = self.world.transform_point(wnd_pos, self.pos,
self.heading, self.side)
egi.circle(wld_pos, 3)
if self.mode == 'follow_path':
self.path.render()
# draw it!
egi.closed_shape(pts)
def render(self): self.super.render() # Draw our sight radius if(self.chosenOne and self.world.drawHidingSpots): egi.red_pen() egi.circle(self.sightCircle['pos'], self.sightCircle['radius'])
def render(self):
self.super.render()
# Draw our sight radius
if (self.chosenOne and self.world.drawHidingSpots):
egi.red_pen()
egi.circle(self.sightCircle['pos'], self.sightCircle['radius'])
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 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, color=None):
''' Draw the triangle agent with color'''
# draw the path if it exists and the mode is follow
if self.mode == 'follow_path':
self.path.render()
# draw the ship
egi.set_pen_color(name=self.color)
pts = self.world.transform_points(self.vehicle_shape, self.pos,
self.heading, self.side, self.scale)
# draw it!
egi.closed_shape(pts)
# draw wander info?
if self.mode == 'wander':
## ...
pass
#draw neighbour radius
cntr_pos = Vector2D()
cntrwld_pos = self.world.transform_point(cntr_pos, self.pos,
self.heading, self.side)
egi.white_pen()
egi.circle(cntrwld_pos, self.neighbour_radius)
# add some handy debug drawing info lines - force and velocity
if self.show_info:
s = 0.5 # <-- scaling factor
# force
egi.red_pen()
egi.line_with_arrow(self.pos, self.pos + self.force * s, 5)
# velocity
egi.grey_pen()
egi.line_with_arrow(self.pos, self.pos + self.vel * s, 5)
# net (desired) change
egi.white_pen()
egi.line_with_arrow(self.pos + self.vel * s,
self.pos + (self.force + self.vel) * s, 5)
egi.line_with_arrow(self.pos,
self.pos + (self.force + self.vel) * s, 5)
if (self.mode == 'wander'):
#calculate center of the wander circle in front of agent
wnd_pos = Vector2D(self.wander_dist, 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, self.wander_radius)
#draw the wander target (little circle on big circle)
egi.red_pen()
wnd_pos = (self.wander_target + Vector2D(self.wander_dist, 0))
wnd_pos = self.world.transform_point(wnd_pos, self.pos,
self.heading, self.side)
egi.circle(wld_pos, 3)
def draw(self):
if self.mode == "Agent":
if self.fsm:
self.fsm.update()
self.fsm.draw()
egi.blue_pen()
else:
egi.red_pen()
egi.set_stroke(4)
egi.circle(Point2D(self.my_x, self.my_y), 10)
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):
for projectile in self.projectiles:
projectile.render()
if self.target:
egi.red_pen()
egi.cross(self.target.pos, self.target.size)
if self.attacker:
self.attacker.render()
def render(self, color=None):
egi.blue_pen()
egi.cross(self.predictedtarget, 5)
''' Draw the triangle agent with color'''
# draw the path if it exists and the mode is follow
if self.mode == 'follow_path':
## ...
self.path.render()
pass
if self.is_hit:
self.visible = False
# draw the ship
egi.set_pen_color(name=self.color)
pts = self.world.transform_points(self.vehicle_shape, self.pos,
self.heading, self.side, self.scale)
# draw it!
egi.closed_shape(pts)
self.is_hit = False
# draw wander info?
if self.mode == 'wander':
wnd_pos = Vector2D(self.wander_dist, 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, self.wander_radius)
# draw the wander target (little circle on the big circle)
egi.red_pen()
wnd_pos = (self.wander_target + Vector2D(self.wander_dist, 0))
wld_pos = self.world.transform_point(wnd_pos, self.pos,
self.heading, self.side)
egi.circle(wld_pos, 3)
## ...
pass
# add some handy debug drawing info lines - force and velocity
if self.show_info:
s = 0.5 # <-- scaling factor
# force
egi.red_pen()
egi.line_with_arrow(self.pos, self.pos + self.force * s, 5)
# velocity
egi.grey_pen()
egi.line_with_arrow(self.pos, self.pos + self.vel * s, 5)
# net (desired) change
egi.white_pen()
egi.line_with_arrow(self.pos + self.vel * s,
self.pos + (self.force + self.vel) * s, 5)
egi.line_with_arrow(self.pos,
self.pos + (self.force + self.vel) * s, 5)
def pursuit(self, target): projected = self.projectedPosition(target) if(self.world.drawDebug and self.chosenOne): egi.red_pen() egi.cross(projected, 10) return self.seek(projected)
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):
for agent in self.agents:
agent.render()
if self.target:
egi.red_pen()
egi.cross(self.target, 10)
if self.showinfo:
infotext = ', '.join(set(agent.mode for agent in self.agents))
egi.white_pen()
egi.text_at_pos(0, 0, infotext)
def render(self, color = None):
if self.show_info:
s = 0.5 # <-- scaling factor
# force
egi.red_pen()
egi.line_with_arrow(self.pos, self.pos + self.acceleration * s, 5)
# velocity
egi.grey_pen()
egi.line_with_arrow(self.pos, self.pos + self.vel * s, 5)
# net (desired) change
egi.white_pen()
egi.line_with_arrow(self.pos+self.vel * s, self.pos+ (self.acceleration+self.vel) * s, 5)
egi.line_with_arrow(self.pos, self.pos+ (self.acceleration+self.vel) * s, 5)
return super().render(color)
def render(self, color=None):
''' Draw the triangle agent with color'''
# draw the path if it exists and the mode is follow
if self.mode == 'follow_path':
## ...
self.path.render()
pass
if self.ishit:
egi.red_pen()
else:
egi.blue_pen()
# draw the ship
egi.circle(self.pos, 20, True)
self.ishit = False
def render(self):
self.hunter.render()
self.cannon.render()
for projectile in self.projectiles:
projectile.render()
if self.target:
egi.red_pen()
egi.cross(self.target, 10)
if self.showinfo:
infotext = ', '.join(
set(projectile.mode for projectile in self.projectiles))
egi.white_pen()
egi.text_at_pos(0, 0, infotext)
def render(self):
for agent in self.agents:
agent.render()
self.hunter.render()
if self.target:
egi.red_pen()
egi.cross(self.target, 10)
if self.showinfo:
controltext = 'Cohesion [Q/W]\nSeparation [T\Y]\nAlignment [K/L]\nNeighbourhood Radius [N/M]'
infotext = ', '.join(set(agent.mode for agent in self.agents))
egi.white_pen()
egi.text_at_pos(0, 15, controltext)
egi.text_at_pos(0, 0, infotext)
def render(self):
for agent in self.agents:
agent.render()
if self.target:
egi.red_pen()
egi.cross(self.target, 10)
if self.show_info:
infotext = \
'Mode: ' + self.agents[0].mode + \
', Local group radius: ' + str(round(self.agents[0].local_group_radius, 2)) + \
', Separation: ' + str(round(self.agents[0].separation_multiplier, 2)) + \
', Cohesion: ' + str(round(self.agents[0].cohesion_multiplier, 2)) + \
', Alignment: ' + str(round(self.agents[0].alignment_multiplier, 2))
egi.white_pen()
egi.text_at_pos(0, 0, infotext)
def render(self):
for agent in self.agents:
agent.render()
if self.target:
egi.red_pen()
egi.cross(self.target, 10)
if self.show_info:
text = 'Mode: ' + self.agents[0].mode + \
'\nWander: ' + str(round(self.agents[0].wanderAmount, 2)) + \
'\nSeparation: ' + str(round(self.agents[0].separationAmount, 2)) + \
'\nCohesion: ' + str(round(self.agents[0].cohesionAmount, 2)) + \
'\nAlignment ' + str(round(self.agents[0].alignmentAmount, 2))
egi.white_pen()
egi.text_at_pos(10, 420, text)
def render(self, color=None):
''' Draw the triangle agent with color'''
# draw the path if it exists and the mode is follow
if self.mode == 'follow_path':
## ...
self.path.render()
# draw the ship
egi.set_pen_color(name=self.color)
pts = self.world.transform_points(self.vehicle_shape, self.pos,
self.heading, self.side, self.scale)
# draw it!
egi.closed_shape(pts)
# draw wander info?
if self.mode == 'wander':
## ...
wnd_pos = Vector2D(self.wander_dist, 0)
wld_pos = self.world.transform_point(wnd_pos, self.pos, self.heading, self.side)
egi.green_pen()
egi.circle(wld_pos, self.wander_radius)
egi.red_pen()
wnd_pos = (self.wander_target + Vector2D(self.wander_dist, 0))
wld_pos = self.world.transform_point(wnd_pos, self.pos, self.heading, self.side)
egi.circle(wld_pos, 3)
if self.mode == 'hide':
egi.green_pen()
egi.cross(self.besthidingspot, 5)
# add some handy debug drawing info lines - force and velocity
if self.show_info:
s = 0.5 # <-- scaling factor
# force
egi.red_pen()
egi.line_with_arrow(self.pos, self.pos + self.force * s, 5)
# velocity
egi.grey_pen()
egi.line_with_arrow(self.pos, self.pos + self.vel * s, 5)
# net (desired) change
egi.white_pen()
egi.line_with_arrow(self.pos+self.vel * s, self.pos+ (self.force+self.vel) * s, 5)
egi.line_with_arrow(self.pos, self.pos+ (self.force+self.vel) * s, 5)
def render(self):
for agent in self.agents:
agent.render()
if self.target:
egi.red_pen()
egi.cross(self.target, 10)
if self.hunter:
agent.render('GREEN')
if self.show_info:
infotext = ', '.join(set(agent.mode for agent in self.agents))
infotext += ', '
infotext += ' , '.join(
set(agent.attribute for agent in self.agents))
egi.white_pen()
egi.text_at_pos(0, 0, infotext)
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 render(self):
for agent in self.agents:
agent.render()
for hunter in self.hunters:
hunter.render()
for obstacle in self.obstacles:
obstacle.render()
if self.target:
egi.red_pen()
egi.cross(self.target, 10)
if self.show_info:
infotext = ', '.join(set(agent.mode for agent in self.agents))
egi.white_pen()
egi.text_at_pos(0, 0, infotext)
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 update(self, delta):
''' update vehicle position and orientation '''
# calculate and set self.force to be applied
# force = self.calculate()
# <-- delta needed for wander (delta)
## limit force? <-- for wander
force = self.calculate(delta)
force.truncate(self.max_force)
# <-- new force limiting code
# determine the new accelteration
self.accel = force / self.mass
# not needed if mass = 1.0
# new velocity
self.vel += self.accel * delta
# check for limits of new velocity
self.vel.truncate(self.max_speed)
# update position
self.pos += self.vel * delta
# update heading is non-zero velocity (moving)
if self.vel.length_sq() > 0.00000001:
self.heading = self.vel.get_normalised()
self.side = self.heading.perp()
# treat world as continuous space - wrap new position if needed
self.world.wrap_around(self.pos)
### added wander to render function. ###
# draw wander info?
if self.mode == 'wander':
# calculate the center of the wander circle in front of the agent
wnd_pos = Vector2D(self.wander_dist, 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, self.wander_radius)
# draw the wander target (little circle on the big circle)
egi.red_pen()
wnd_pos = (self.wander_target + Vector2D(self.wander_dist, 0))
wld_pos = self.world.transform_point(wnd_pos, self.pos,
self.heading, self.side)
egi.circle(wld_pos, 3)
pass
def render(self,color=None): self.calculateRenderPosition() if(color is None): color = self.color ''' Draw the triangle agent with color''' self.drawBody(color) if(not self.world.drawDebug or not self.chosenOne): return # Debug stuff to draw for all agents # if not self.chosenOne: # return # Debug stuff to only draw for one agent egi.circle(self.pos, self.boundingRadius) egi.orange_pen() egi.circle(self.pos, self.boundingRadius) egi.grey_pen() wnd_pos = Vector2D(0, 0) # Draw wander info # calculate the center of the wander circle wnd_pos = Vector2D(self.wanderDistance, 0) wld_pos = self.world.transform_point(wnd_pos, self.renderPosition, self.heading, self.side) # draw the wander circle egi.green_pen() egi.circle(wld_pos, self.wanderRadius) # draw the wander target (little circle on the big circle) egi.red_pen() wnd_pos = (self.wander_target + Vector2D(self.wanderDistance,0)) wld_pos = self.world.transform_point(wnd_pos, self.renderPosition, self.heading, self.side) egi.circle(wld_pos, 3)
def flock(self, delta): alignment = self.alignmentForce() separation = self.separationForce() cohesion = self.cohesionForce() if(self.chosenOne and self.world.drawComponentForces): s = 0.1 egi.green_pen() egi.line_with_arrow(self.pos, self.pos + alignment * s, 10) egi.blue_pen() egi.line_with_arrow(self.pos, self.pos + separation * s, 10) egi.red_pen() egi.line_with_arrow(self.pos, self.pos + cohesion * s, 10) egi.grey_pen() egi.line_with_arrow(self.pos, self.pos + self.force * s, 10) egi.circle(self.pos, self.neighbourDistance) return alignment + separation + cohesion
def render(self):
for agent in self.agents:
agent.render()
if self.target:
egi.red_pen()
for obstacle in self.obstacles:
egi.circle(obstacle.pos, obstacle.radius, filled=True)
if self.show_info:
massText = "Mass(q,w): " + str(agent.mass)
maxTurnText = "Max Turn Force(a,s): " + str(agent.max_force)
maxSpeedText = "Max Speed(z,x): " + str(agent.max_speed)
agent = self.agents[0]
infotext = ', '.join(set(agent.mode for agent in self.agents))
egi.white_pen()
egi.text_at_pos(0, 0, infotext)
egi.text_at_pos(150, 0, massText)
egi.text_at_pos(150, 13, maxTurnText)
egi.text_at_pos(150, 26, maxSpeedText)
def render(self):
for agent in self.agents:
if agent is not self.hunter:
agent.render()
else:
agent.render("GREEN")
for obs in self.obstacles:
obs.render()
if self.target:
egi.red_pen()
egi.cross(self.target, 10)
if self.show_info:
infotext = ', '.join(set(agent.mode for agent in self.agents))
infotext += ', '
infotext += ' , '.join(set(agent.attribute for agent in self.agents))
egi.white_pen()
egi.text_at_pos(0, 0, infotext)
def render(self, color=None):
''' Draw the triangle agent with color'''
# draw the ship
egi.set_pen_color(name=self.color)
pts = self.world.transform_points(self.vehicle_shape, self.pos,self.heading, self.side, self.scale)
# draw it!
egi.closed_shape(pts)
#draw some patrol target
egi.red_pen()
for target in self.world.targets:
egi.cross(target, 10)
''' Draw bullets '''
egi.grey_pen()
if self.mode == 'fire':
self.shoot_enemy()
if self.mode == 'reload':
self.color = 'YELLOW'
self.reload_gun()
if self.ammo == 10:
self.mode = 'soldier'
self.color = 'GREEN'
def render(self):
egi.red_pen()
egi.circle(self.pos, self.radius)
def obstacleAvoidance(self, objects):
# calc a "Detection Box" length proportional to current speed
boxLength = self.minBoxLength + (self.speed() / self.maxSpeed) * self.minBoxLength
boxWidth = self.boundingRadius * 2
# Draw the collision box
if(self.chosenOne and self.world.drawDebug):
box = Rect({
'left': 0,
'right': boxLength,
'top': boxWidth/2,
'bottom': -boxWidth/2
})
boxPoints = box.getPoints()
print 'render points...', Util.strPoints(boxPoints)
pts = self.pointsInWorldSpace(boxPoints, self.pos)
print 'render points...', Util.strPoints(pts)
egi.red_pen()
egi.closed_shape(pts)
simple = [
Vector2D(0, 10),
Vector2D(10, 10),
Vector2D(10, -10),
Vector2D(0, -10)]
egi.closed_shape(self.pointsInWorldSpace(simple, self.pos))
# note (tag) the objects in range
tagList = self.tagObjectsInViewRange(objects, boxLength, boxWidth)
closestDistance = BIG_FLOAT # float('inf')
closestObj = None
closestPos = None
# Loop through the TagList and find the intersection points ...
# keep track of the closest object found ...
# Calculate the steering force (if required) ...
for obj in tagList:
localPos = PointToLocalSpace(obj.pos, self.heading, self.side, self.pos)
if localPos.x >= 0:
ExpandedRadius = obj.boundingRadius + self.boundingRadius
if abs(localPos.y) < ExpandedRadius:
# line/circle intersection test, x = cX +/- sqrt(r**2 - cY**2) for y=0
cX = localPos.x
cY = localPos.y
# only calc the sqrt part once (avoid repetition)
sqrtPart = math.sqrt(ExpandedRadius**2 - cY**2)
ip = cX - sqrtPart
if ip <= 0.0:
ip = cX + sqrtPart
# Keep track of the closest found so far
if ip < closestDistance:
closestDistance = ip
closestObj = obj
closestPos = obj.pos
# now find the steering force
steeringForce = Vector2D()
if closestObj:
# the closer, the stronger the force needed
multi = 1.0 + (boxLength - closestPos.x) / boxLength
# lateral force as needed
steeringForce.y = (closestObj.boundingRadius - closestPos.y) * multi
# breaking force proportional to closest object
breakingWeight = 0.2
steeringForce.x = (closestObj.boundingRadius - closestPos.x) * breakingWeight
# convert force back to world space
return VectorToWorldSpace(steeringForce,self.heading, self.side)
def render(self): egi.red_pen() egi.circle(self.pos, 20)
def render(self, color=None): egi.red_pen() egi.circle(self.pos, 30)