def check_velocity_constraint(entity1, entity2, max_speed):
"""
:param entity1:
:type entity1: Entity
:param entity2:
:type entity2: Entity
:return:
:rtype:
"""
origin = Position.from_entity(entity1)
b = Position.from_entity(entity2) - origin
d = math.sqrt(b.x**2 + b.x**2)
r = entity1.radius + entity2.radius
if d - r < 2 * max_speed:
p1, p2 = find_adhesion_cone_circle_centered(b, r)
# diff_vel = entity1.vel - entity2.vel
# orthogonal because tangent definition
ray_normals = [b - p1, b - p2]
np.array([[ray_normals[0].x, ray_normals[0].y],
[ray_normals[0].x, ray_normals[0].y]])
def constraint(diff_vel):
return (ray_normals[0] * diff_vel < 0
or ray_normals[1] * diff_vel < 0
or b * diff_vel < 1 - r / d)
else:
constraint = None
return constraint
def velocity_constraint_parabola(entity1, entity2, max_speed):
origin = Position.from_entity(entity1)
b = Position.from_entity(entity2) - origin
r = entity1.radius + entity2.radius
norm_b = Position.normed(b)
orth_b = Position.orth(norm_b)
apex = b - norm_b * r
# velocity difference as if the apex was the origin,
# simplify operations later
diff_vel = entity1.vel - entity2.vel - apex
constraint = diff_vel.dot(norm_b)**2 - 2 * r * diff_vel.dot(orth_b) < 0
return constraint
def assign_targets(self):
"""
Assign a target for each ship using planet attractivity
The attractivity is discounted by the distance
"""
my_ships = self.my_undocked_ships
planets = self.all_planets()
ship_pos = np.array([[e.x, e.y] for e in my_ships])
planet_pos = np.array([[e.x, e.y] for e in planets])
planet_att = np.array([e.attractivity_level
for e in planets])
n_ship = ship_pos.shape[0]
n_planet = planet_pos.shape[0]
diff_pos = (np.broadcast_to(ship_pos.reshape(n_ship, 1, 2),
(n_ship, n_planet, 2)) -
np.broadcast_to(planet_pos.reshape(1, n_planet, 2),
(n_ship, n_planet, 2)))
dist = np.sum(diff_pos * diff_pos, axis=2)
dist = np.power(dist, DIST_POWER)
attractivity = dist * planet_att
for i, ship in enumerate(my_ships):
planet_ind = np.argmax(attractivity[i, :])
ship.target = Position.from_entity(planets[planet_ind])